WO2015025371A1 - Management system and management method - Google Patents

Management system and management method Download PDF

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Publication number
WO2015025371A1
WO2015025371A1 PCT/JP2013/072223 JP2013072223W WO2015025371A1 WO 2015025371 A1 WO2015025371 A1 WO 2015025371A1 JP 2013072223 W JP2013072223 W JP 2013072223W WO 2015025371 A1 WO2015025371 A1 WO 2015025371A1
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WO
WIPO (PCT)
Prior art keywords
loading
dump truck
processing device
time
machine
Prior art date
Application number
PCT/JP2013/072223
Other languages
French (fr)
Japanese (ja)
Inventor
幸司 竹田
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to PCT/JP2013/072223 priority Critical patent/WO2015025371A1/en
Priority to US14/359,377 priority patent/US9383754B2/en
Priority to JP2013549465A priority patent/JP5809710B2/en
Priority to CA2882906A priority patent/CA2882906C/en
Priority to AU2013344339A priority patent/AU2013344339B2/en
Priority to CN201380003949.0A priority patent/CN104769630B/en
Publication of WO2015025371A1 publication Critical patent/WO2015025371A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2054—Fleet management

Definitions

  • the present invention relates to a mining machine management system and management method.
  • Patent Document 1 discloses a technique related to a management system that manages an unloading operation using an IC tag.
  • This invention aims at providing the management system and management method of a mining machine which can suppress the productivity fall in a mine.
  • the management system is disposed in a transport machine that travels in a mine, and a position detection device that can detect position information of the transport machine, and position information of the transport machine that is detected by the position detection device are output.
  • a processing device, and the processing device defines at least one of a start time point and an end time point of each of the plurality of operations of the transporting machine based on the position information of the transporting machine output from the position detection device. To do.
  • a control facility having the processing device is provided, and positional information of each of the plurality of transporting machines is output to the processing device, and the processing device is based on the positional information of the plurality of transporting machines in the mine.
  • the allocation instruction for the transport machine may be output to the transport machine.
  • the transporting machine travels on a loading place where a load loading operation is performed, a dumping site where a load discharging operation is performed, and a conveyance path connecting the loading field and the discharging site, and the transporting machine
  • the plurality of operations are a first operation that travels in a state where no load is loaded, and a second operation that moves to the loading position of the loading site after the standby state at the standby position at the loading site is released.
  • it may include at least one of a third operation in which a load is loaded by the loading machine at the loading position and a fourth operation that travels while the load is loaded.
  • An input device arranged in the loading machine may be provided, and the operation signal generated by the input device may include a starting command signal from the loading position for the transporting machine.
  • At least one of the end time of the third operation and the start time of the fourth operation may include a time when the operation signal is generated by the input device.
  • the processing apparatus may calculate a time required for a cycle operation of the transporting machine that reciprocates between the loading field and the earth discharging field.
  • the management method detects position information of the transport machine with a position detection device arranged in the transport machine traveling in a mine, and processes the position information of the transport machine detected by the position detection device. Output to the apparatus, and defining at least one of a start time and an end time of each of the plurality of operations of the transport machine based on the position information of the transport machine output from the position detection device. .
  • FIG. 1 is a diagram illustrating an example of a mining machine management system according to the present embodiment.
  • FIG. 2 is a diagram illustrating an example of a management apparatus according to the present embodiment.
  • FIG. 3 is a diagram illustrating an example of the dump truck according to the present embodiment.
  • FIG. 4 is a diagram illustrating an example of a dump truck control system according to the present embodiment.
  • FIG. 5 is a diagram illustrating an example of the loading machine according to the present embodiment.
  • FIG. 6 is a diagram illustrating an example of a control system of the loading machine according to the present embodiment.
  • FIG. 7 is a flowchart showing an example of the operation of the dump truck in one cycle according to the present embodiment.
  • FIG. 1 is a diagram illustrating an example of a mining machine management system according to the present embodiment.
  • FIG. 2 is a diagram illustrating an example of a management apparatus according to the present embodiment.
  • FIG. 3 is a diagram illustrating an example of the dump truck according to the present embodiment.
  • FIG. 8 is a schematic diagram showing an example of the operation of the dump truck in one cycle according to the present embodiment.
  • FIG. 9 is a schematic diagram illustrating an example of the operation of the dump truck according to the present embodiment.
  • FIG. 10 is a schematic diagram illustrating an example of the operation of the dump truck according to the present embodiment.
  • FIG. 11 is a flowchart showing an example of the operation of the dump truck in one cycle according to the present embodiment.
  • FIG. 12 is a diagram showing the relationship between the total cycle time and the reference cycle time.
  • FIG. 1 is a diagram schematically illustrating a site to which a management system 1 for a mining machine according to the present embodiment is applied.
  • a management system 1 includes a management device 10 that is disposed in a control facility 7 and manages a mining machine, and a communication system 9 that can transmit information.
  • the management system 1 manages the operation of the mining machine and evaluates the productivity.
  • a mining machine is a general term for machines used for various operations in a mine.
  • a dump truck 2 that transports earth and sand generated by mining as a load is managed as a kind of transporting machine of a mining machine.
  • the dump truck 2 is a so-called unmanned dump truck that operates according to a command signal from the management device 10, and an operator (driver) does not get on the dump truck 2.
  • the mining machine may include a loading machine 3 such as a hydraulic excavator that loads a load on the dump truck 2.
  • the dump truck 2 In the mine, the dump truck 2 is transported between the loading site LPA where the loading operation is performed and the discharging site DPA where the discharging operation is performed, to the loading site LPA and the discharging site DPA. Travel on the road HL.
  • the loading machine 3 loads a load onto the dump truck 2 at the loading site LPA.
  • the dump truck 2 loaded with the load at the loading position LP of the loading site LPA travels on the conveyance path HL and moves to the earth discharging site DPA, and discharges the load at the earth discharging position DP of the earth discharging site DPA.
  • the dump truck 2 that has discharged the load at the dump site DPA travels on the transport path HL and moves to the load site LPA.
  • the communication system 9 includes a wireless communication system, and transmits information between the management device 10, the dump truck 2, and the loading machine 3.
  • the management device 10, the dump truck 2, and the loading machine 3 can communicate wirelessly via the communication system 9.
  • the position of the dump truck 2 and the position of the loading machine 3 are detected using an omnidirectional positioning system (Global Positioning System: GPS).
  • GPS Global Positioning System
  • the GPS has a GPS satellite 5 and detects a position in a coordinate system (GPS coordinate system) that defines latitude, longitude, and altitude.
  • the position detected by the GPS includes latitude, longitude, and altitude coordinate data (coordinate values).
  • the position of the dump truck 2 and the position of the loading machine 3 in the mine are detected by GPS.
  • the position detected by the GPS is an absolute position defined in the GPS coordinate system. In the following description, a position detected by the GPS is appropriately referred to as a GPS position.
  • FIG. 2 is a functional block diagram illustrating an example of the management apparatus 10 according to the present embodiment.
  • the management device 10 includes a computer system 11, a display device 16, an input device 17, and a wireless communication device 18.
  • the computer system 11 includes a processing device 12, a storage device 13, and an input / output unit 15.
  • the display device 16, the input device 17, and the wireless communication device 18 are connected to the computer system 11 via the input / output unit 15.
  • the input / output unit 15 is used for input / output (interface) of information between the processing device 12 and at least one of the display device 16, the input device 17, and the wireless communication device 18.
  • the processing device 12 includes a CPU (Central Processing Unit) and executes various processes related to the management of the dump truck 2.
  • the processing device 12 processes the information regarding the position of the dump truck 2 acquired via the communication system 9 and generates a travel route CS on which the dump truck 2 travels.
  • the travel route CS is generated in the GPS coordinate system, and the dump truck 2 travels in accordance with the travel route CS generated by the processing device 12 in at least a part of the loading site LPA, the earth discharging site DPA, and the transport path HL. .
  • the storage device 13 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive, and stores various types of information related to the management of the dump truck 2.
  • the display device 16 includes, for example, a flat panel display such as a liquid crystal display, and can display information regarding the position of the dump truck 2.
  • the input device 17 includes at least one of a keyboard, a touch panel, a mouse, and an operation switch, and an operation signal is input by being operated.
  • the operation signal input to the input device 17 is input to the processing device 12. That is, the input device 17 functions as an operation unit that can input an operation signal to the processing device 12.
  • the communication system 9 includes a wireless communication device 18 disposed in the control facility 7.
  • the wireless communication device 18 includes an antenna 18 ⁇ / b> A and is connected to the processing device 12 via the input / output unit 15.
  • the wireless communication device 18 can receive information transmitted from at least one of the dump truck 2 and the loading machine 3 and outputs the received information to the processing device 12.
  • Information received by the wireless communication device 18 is stored (registered) in the storage device 13.
  • the wireless communication device 18 can transmit information to at least one of the dump truck 2 and the loading machine 3. For example, information regarding the travel route CS generated by the processing device 12 is transmitted to the dump truck 2 via the communication system 9.
  • FIG. 3 is a diagram schematically illustrating the appearance of the dump truck 2 according to the present embodiment
  • FIG. 4 is a functional block diagram of the dump truck 2 according to the present embodiment.
  • the dump truck 2 includes a vehicle body 21, a vessel 22, wheels 23, a processing device 20, a storage device 25, a pressure sensor 26, a speed sensor 27, and an antenna 28A. Are connected to each other, and a position detection device 29 to which an antenna 29A is connected.
  • the vehicle body 21 is provided with a drive device including an internal combustion engine, and the wheels 23 are driven by the drive device.
  • the wheel 23 includes a tire and a wheel, and rotates by power transmitted from the driving device.
  • the vessel 22 includes a loading platform on which a load is loaded, and is disposed on the upper portion of the vehicle body 21 so as to be swingable. In the loading operation, the load is loaded onto the vessel 22 by the loading machine 3, and in the discharging operation, the vessel 22 is raised and the load is discharged.
  • the pressure sensor 26 detects a load acting on the suspension cylinder, and detects a load on the vessel 22 and detects a weight (loading amount) of the load by detecting a pressure of hydraulic oil in the suspension cylinder. Functions as a sensor.
  • the pressure sensor 26 is connected to the processing device 20 and outputs a detection signal to the processing device 20.
  • the speed sensor 27 detects the rotational speed of the wheel 23 and detects the traveling speed of the dump truck 2.
  • the speed sensor 27 is connected to the processing device 20 and outputs a detection signal to the processing device 20.
  • the position detection device 29 includes a GPS receiver and detects the GPS position of the dump truck 2.
  • the position detection device 29 has a GPS antenna 29A disposed on the dump truck 2, and detects the GPS position of the dump truck 2 by detecting the GPS position of the antenna 29A.
  • the position detection device 29 is connected to the processing device 20 and outputs a detection signal to the processing device 20.
  • the processing device 20 includes a CPU (Central Processing Unit) and executes various processes related to the management of the dump truck 2.
  • the processing device 20 controls the traveling of the dump truck 2 so that the dump truck 2 travels according to the traveling route CS generated by the processing device 12.
  • Control of traveling of the dump truck 2 includes control of operation of the dump truck 2 including at least one operation of a steering, an accelerator, and a brake.
  • the storage device 25 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive, and stores various types of information related to the management of the dump truck 2.
  • a RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory a flash memory
  • hard disk drive a hard disk drive
  • the communication system 9 includes a wireless communication device 28 disposed on the dump truck 2.
  • the wireless communication device 28 has an antenna 28 ⁇ / b> A and is connected to the processing device 20.
  • the wireless communication device 28 can receive information (including a command signal) transmitted from at least one of the management device 10 and the loading machine 3, and outputs the received information to the processing device 20.
  • Information received by the wireless communication device 28 is stored (registered) in the storage device 25.
  • the processing device 20 can control the traveling of the dump truck 2 according to the command signal received by the wireless communication device 28.
  • the wireless communication device 28 can transmit information to at least one of the management device 10 and the loading machine 3. For example, at least one detection signal of the pressure sensor 26, the speed sensor 27, and the position detection device 29 is transmitted to the management device 10 via the communication system 9.
  • FIG. 5 is a diagram schematically illustrating the appearance of the loading machine 3 according to the present embodiment
  • FIG. 6 is a functional block diagram of the loading machine 3 according to the present embodiment.
  • the loading machine 3 includes a traveling body 38, a revolving body 37, an arm 35, a bucket 34, a processing device 30, a storage device 39, and an antenna 32 ⁇ / b> A.
  • the excavator includes a wireless communication device 32, a position detection device 33 to which an antenna 33A is connected, a display device 36, and an input device 31.
  • the worker WM gets on the loading machine 3 and the loading operation is performed by the operation of the worker WM.
  • the loading machine 3 is an example of a hydraulic excavator, but may be a wheel loader.
  • the position detection device 33 includes a GPS receiver and detects the GPS position of the loading machine 3.
  • the position detection device 33 includes a GPS antenna 33A disposed on the loading machine 3 and detects the GPS position of the loading machine 3 by detecting the GPS position of the antenna 33A.
  • the position detection device 33 is connected to the processing device 30 and outputs a detection signal to the processing device 30.
  • the processing device 30 includes a CPU (Central Processing Unit) and executes various processes related to the management of the loading operation of the loading machine 3.
  • the storage device 39 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive, and stores various types of information related to the management of the loading operation of the loading machine 3.
  • the display device 36 includes, for example, a flat panel display such as a liquid crystal display, and includes information related to the position of the dump truck 2, information related to the position of the loading machine 3, and an operating state of the loading machine 3 (for example, engine water temperature, etc. ) Can be displayed.
  • the input device 31 includes at least one of a keyboard, a touch panel, and an operation switch, and generates an operation signal when operated.
  • the operation signal generated by the input device 31 is input to the processing device 30. That is, the input device 31 functions as an operation unit that can input an operation signal to the processing device 30.
  • An operator (driver) WM of the loading machine 3 can generate an operation signal by operating the input device 31, and can input an operation signal to the processing device 30 via the input device 31.
  • the communication system 9 includes a wireless communication device 32 arranged in the loading machine 3.
  • the wireless communication device 32 has an antenna 32 ⁇ / b> A and is connected to the processing device 30.
  • the wireless communication device 32 can receive information (including a command signal) transmitted from at least one of the management device 10 and the dump truck 2, and outputs the received information to the processing device 30.
  • Information received by the wireless communication device 32 is stored (registered) in the storage device 39.
  • the wireless communication device 32 can transmit information to at least one of the management device 10 and the dump truck 2. For example, an operation signal generated by the input device 31 is transmitted to at least one of the management device 10 and the dump truck 2 via the communication system 9.
  • the dump truck 2 is loaded with the loading machine 3 at the loading position LP of the mine loading site LPA, and then departs from the loading site LPA toward the dumping site DPA. After traveling through HL and arriving at the dumping site DPA, the cargo is discharged at the dumping position DP of the dumping site DPA. After discharging, the dumping site DPA is moved toward the loading site LPA. A series of starting, traveling on the transport path HL and arriving at the loading site LPA, then loading work is performed at the loading position DP, and again leaving the loading site LPA toward the dumping site DPA. Repeat the operation.
  • Loading site LPA is an area (place) where loading work is performed in the mine, and loading position LP is a position (loading point) where loading work is performed at loading site LPA
  • the loading operation is an operation for loading a load onto the dump truck 2.
  • the earth removal site DPA is an area (place) where the load discharge work is performed in the mine, and the earth discharge position DP is the position (discharge point) where the load discharge work is performed at the earth discharge site DPA. Is an operation of unloading (discharging) the load from the dump truck 2.
  • the transport path HL connects the loading site LPA and the earth discharging site DPA, and the dump truck 2 can travel back and forth between the loading site LPA and the earth discharging site DPA by traveling on the transport path HL.
  • the loading position LP and the soil discharging position DP are defined by the processing device 12.
  • Each of the loading position LP and the soil discharging position DP may be a partial position of the travel route CS generated by the
  • a series of dump trucks 2 from starting at loading site LPA, arriving at loading site LPA via dumping site DPA for discharging cargo, and again leaving loading site LPA The operation is appropriately referred to as a cycle operation, and one cycle operation is appropriately referred to as one cycle.
  • the cycle operation includes an operation in which the dump truck 2 reciprocates between the loading site LPA and the earth discharging site DPA.
  • one cycle is not limited to this.
  • the loading operation and the discharging operation at the earth discharging site DPA are performed, and then the loading site LPA is again performed.
  • a series of operations until arriving at the site may be defined as one cycle, or a sequence of operations from leaving the dumping site DPA to passing through the loading site LPA and then leaving the dumping site DPA again.
  • One cycle may be defined.
  • the second loading operation is performed after one cycle operation after the first loading operation
  • the loading position LP and the second product in the first loading operation are performed.
  • the loading position LP in the loading operation may be the same position or a different position.
  • the soil discharge position DP in the first discharge operation and the discharge in the second discharge operation are performed.
  • the soil position DP may be the same position or a different position.
  • the first loading operation is performed, the first loading operation is performed through one cycle operation, and in the case where the second loading operation is performed, the loading site LPA and the second loading operation are performed.
  • the loading site LPA where the loading operation is performed may be the same loading site LPA or a different loading site LPA.
  • the earth discharging site DPA in which the first discharging operation is performed and the second discharging operation are performed.
  • the same earth removal site DPA may be used as the earth removal site DPA, or different earth removal site DPA.
  • the dump truck 2 performs a plurality of operations.
  • a plurality of operations of the dump truck 2 are, for example, a discharging operation for discharging the load at the dumping site DPA, and after the discharging operation at the dumping site DPA to an entrance of the loading site LPA in an unloaded state where no load is loaded.
  • the plurality of operations of the dump truck 2 include a travel stop operation for stopping travel on the transport path HL.
  • the position information of the dump truck 2 is detected using GPS. That is, the GPS position of the dump truck 2 is detected by the position detection device 29 including the GPS receiver arranged on the dump truck 2. Information regarding the GPS position of the dump truck 2 detected by the position detection device 29 is output to the processing device 12 of the management device 10 via the communication system 9.
  • the processing device 12 is based on the position information of the dump truck 2 output from the position detection device 29, and the start time and the end time of at least one of the plurality of operations of the dump truck 2 described above. Specify one or both. For example, the processing device 12 starts and ends the discharge operation, the start and end times of the unloading operation, and the entrance standby operation based on the GPS position of the dump truck 2 output from the position detection device 29. Specify the start time and end time, the start time and end time of the spot travel operation, the start time and end time of the loading operation, the start time and end time of the load travel operation, and the start time and end time of the travel stop operation. .
  • the processing device 12 can derive the time required for the operation based on the start time and the end time of the operation of the dump truck 2.
  • the processing device 12 can derive the discharge work time required for the dump truck 2 to perform the discharge work based on the start time and the end time of the discharge operation, and based on the start time and the end time of the unloading operation, It is possible to derive the empty travel time during which the dump truck 2 traveled in a state where no load is loaded, and the dump truck 2 waited at the entrance of the loading site LPA based on the start time and the end time of the entrance standby operation.
  • the waiting time at the entrance can be derived, and dumping is performed up to the loading position LP at the loading site LPA after the waiting state at the waiting position at the entrance of the loading site LPA is canceled based on the start time and end time of the spot operation.
  • the spot time required for the time required for the truck 2 to move can be derived, and the loading work time required for the dump truck 2 to perform the loading work based on the start time and the end time of the loading operation.
  • Based on the start time and end time of the load travel operation it is possible to derive the load travel time during which the dump truck 2 travels while the load is loaded, and the start time and end time of the travel stop operation. Based on the above, it is possible to derive the stop time when the traveling of the dump truck 2 is stopped in the transport path HL.
  • a plurality of dump trucks 2 are operated, and each of the plurality of dump trucks 2 performs a cycle operation.
  • Information on the GPS positions of the plurality of dump trucks 2 is output to the processing device 12 of the management device 10 via the communication system 9.
  • the processing device 12 Based on the position information of each of the plurality of dump trucks 2, the processing device 12 defines the start time and the end time of the operation of each of the dump trucks 2 and derives the time required for the operation.
  • Step SA1 Loading operation for the dump truck 2 arranged at the loading position LP of the loading site LPA is started (step SA1).
  • Information regarding the GPS position of the dump truck 2 when the loading operation is being performed at the loading position LP is output to the processing device 12 of the management device 10 via the communication system 9.
  • the processing device 12 defines the time point when the dump truck 2 is arranged at the loading position LP as the starting time Ts1 of the loading operation of the dump truck 2.
  • the dump truck 2 travels according to the travel route CS generated by the processing device 12, and the travel route CS includes the loading position LP. That is, the loading position LP is defined by the processing device 12 in the GPS coordinate system, and the processing device 12 loads the dump truck 2 based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not it is arranged at the position LP.
  • the processing device 12 determines whether or not the dump truck 2 is disposed at the loading position LP based on the travel route CS (loading position LP) generated by the processing device 12 and the detection result of the position detection device 29.
  • the point in time when the dump truck 2 is arranged at the loading position LP is defined as the starting point Ts1 of the loading operation of the dump truck 2.
  • the input device 31 When the loading operation is completed, the input device 31 is operated by the worker WM of the loading machine 3 (step SA2).
  • the input device 31 includes a touch panel, and the touch panel includes an operation unit (input button) for notifying the dump truck 2 and the management device 10 of the completion of the loading operation.
  • the worker WM operates the operation unit (presses the input button).
  • the operation signal generated by the input device 31 is output to the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2 via the communication system 9.
  • the processing device 12 defines the end time Te1 of the loading operation of the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading operation.
  • the processing device 12 may define the end point Te1 when the operation signal is generated by the input device 31 in a state where the dump truck 2 exists at the loading position LP. That is, when the loading position LP defined by the processing device 12 and the GPS position of the dump truck 2 detected by the position detection device 29 coincide with each other, the input device 31 is operated and the operation time signal Te1 is reached. May be the point in time when the operation signal is input to the processing device 12.
  • the operation signal generated by the input device 31 includes a command signal for departure from the loading position LP for the dump truck 2.
  • the operation signal generated by the input device 31 is input to the processing device 20 of the dump truck 2 via the communication system 9, the dump truck 2 departs from the loading position LP toward the dumping site DPA.
  • the processing device 12 of the management device 10 that has received the operation signal from the input device 31 may instruct the dump truck 2 to start from the loading position LP via the communication system 9.
  • the processing device 12 may define the end time Te1 based on the position information of the dump truck 2 output from the position detection device 29.
  • the processing device 12 is based on the information about the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not the dump truck 2 has departed from the loading position LP.
  • the processing device 12 determines whether or not the dump truck 2 has started to move from the loading position LP based on the detection result of the position detecting device 29, and the dump truck 2 has started to move from the loading position LP.
  • the point of time when the dump truck 2 is loaded may be defined as the end point Te1 of the loading operation of the dump truck 2.
  • the dump truck 2 After completion of the loading operation, the dump truck 2 starts a loading operation (Step SA3).
  • the processing device 12 defines the start time Ts2 of the load traveling operation of the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading operation.
  • the start time Ts2 of the load traveling operation is the time when the input device 31 is operated and the operation signal is generated (the time when the operation signal is input to the processing device 12). It is the same as the end time Te1.
  • the processing device 12 determines whether or not the dump truck 2 has started moving from the loading position LP based on the detection result of the position detecting device 29, and the dump truck 2 has moved from the loading position LP.
  • the processing device 12 defines the time point when the operation signal is generated by the input device 31 at the end of the loading operation as the end time Te1, and the dump truck 2 is loaded at the loading position LP based on the detection result of the position detection device 29.
  • the time point at which it is determined that the movement from is started may be defined as the start time point Ts2.
  • the dump truck 2 travels according to the travel route CS generated by the processing device 12 in the loaded state, and arrives at the entrance GD of the dumping site DPA.
  • the dump truck 2 that has arrived at the entrance GD of the earth removal site DPA enters the earth removal site DPA from the entrance GD, travels toward the earth removal position DP, and arrives at the earth removal position DP (step SA4).
  • the processing device 12 defines the time point at which the dump truck 2 is disposed at the earthing position DP as the end time Te2 of the load traveling operation of the dump truck 2.
  • the dump truck 2 travels according to the travel route CS generated by the processing device 12, and the travel route CS includes the soil removal position DP.
  • the earth removal position DP is defined by the processing device 12 in the GPS coordinate system, and the processing device 12 is configured to remove the dump truck 2 based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not it is arranged at the position DP.
  • the processing device 12 determines whether or not the dump truck 2 is disposed at the soil discharging position DP based on the travel route CS (the soil discharging position DP) generated by the processing device 12 and the detection result of the position detecting device 29. Then, the point in time when the dump truck 2 is arranged at the soil discharging position DP is defined as the end point Te2 of the load traveling operation of the dump truck 2.
  • the processing device 12 performs the load traveling operation of the dump truck 2 in the first load traveling operation from the loading site LPA to the intersection of the conveyance path HL and the first operation from the intersection of the conveyance path HL to the dumping site DPA.
  • the start time and end time of the first load travel operation of the dump truck 2 and the start time and end time of the second load travel operation may be defined separately.
  • One or both of the end time of the first load travel operation and the start time of the second load travel operation include the time when the dump truck 2 passes the intersection of the conveyance path HL, and is based on the GPS position of the dump truck 2 Can be prescribed.
  • the processing device 12 includes the third load travel operation from the intersection of the conveyance path HL to the first soil discharge field DPA, and the fourth load travel operation from the intersection of the transport path HL to the second soil discharge field DPA.
  • the start time and end time of the third load traveling operation of the dump truck 2 and the start time and end time of the fourth load traveling operation may be defined.
  • One or both of the start time point of the third load travel operation and the start time point of the fourth load travel operation include a time point when the dump truck 2 passes the intersection of the conveyance path HL, and is based on the GPS position of the dump truck 2 Can be prescribed.
  • the dump truck 2 After completion of the cargo traveling operation, the dump truck 2 starts the discharging operation (step SA5).
  • the processing device 12 outputs (transmits) a discharge operation command signal to the dump truck 2 disposed at the soil discharge position DP.
  • the processing device 20 of the dump truck 2 that has received the command signal raises the vessel 22. Thereby, the load is discharged from the vessel 22 (step SA6).
  • the dump truck 2 starts from the soil discharge position DP toward the loading site LPA.
  • the processing device 12 defines the time point when the dump truck 2 is disposed at the soil discharge position DP as the start time Ts3 of the dump truck 2 discharge operation. That is, in the present embodiment, the discharge operation start time Ts3 is the same as the load travel operation end time Te2, and the end time Te2 is defined as the start time Ts3. Further, since the time required for the discharge operation is as short as several seconds, in the present embodiment, the processing device 12 defines the discharge operation start time Ts3 as the discharge operation end time Te3. That is, in the present embodiment, the end time Te3 of the discharge operation is the same as the start time Ts3 of the discharge operation. In addition, the processing apparatus 12 may prescribe
  • the processing device 12 may define the end time Te2 and the start time Ts3 to be different.
  • the processing device 12 may define the end time Te2 when the dump truck 2 is disposed at the earthing position DP and define the start time Ts3 when the vessel 22 starts to rise.
  • the processing device 12 may define the start time Ts3 and the end time Te3 to be different.
  • the processing device 12 defines the start time Ts3 when the discharge operation command signal is output or when the rise of the vessel 22 starts, and the detection result of the pressure sensor 26 that can detect the weight of the load on the vessel 22.
  • the end time Te3 may be defined as the time when it is determined that the discharge of the load has been completed.
  • the processing device 12 may define the end time Te3 of the dump truck 2 discharge operation based on the position information of the dump truck 2 output from the position detection device 29.
  • the processing device 12 is based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not the dump truck 2 has departed from the soil discharge position DP.
  • the processing device 12 determines whether or not the dump truck 2 has started to move from the soil discharge position DP based on the detection result of the position detection device 29, and the dump truck 2 has started to move from the soil discharge position DP. May be defined as the end time Te3 of the discharge operation of the dump truck 2.
  • the dump truck 2 After completion of the discharging operation, the dump truck 2 starts an empty traveling operation (Step SA7).
  • the start time Ts3 (or the end time Te3) of the discharge operation is defined as the start time Ts4 of the empty travel operation. That is, in the present embodiment, the start time Ts3, the end time Te3, and the start time Ts4 are the same.
  • the start time Ts3 (or the end time Te3) and the start time Ts4 may be different.
  • the processing device 12 may define the start time Ts4 of the empty traveling operation of the dump truck 2 based on the position information of the dump truck 2 output from the position detection device 29.
  • the processing device 12 determines whether or not the dump truck 2 has started moving from the soil discharging position DP based on the detection result of the position detecting device 29, and the dump truck 2 starts moving from the soil discharging position DP. This time may be defined as the start time Ts4 of the unloading operation of the dump truck 2.
  • the dump truck 2 travels in an empty state according to the travel route CS generated by the processing device 12 and arrives at the entrance GL of the loading site LPA. As a result, the dump truck 2 ends the empty travel operation on the transport path HL (step SA8).
  • the processing device 12 defines the point in time when the dump truck 2 arrives at the entrance GL of the loading site LPA as the end point Te4 of the unloading operation of the dump truck 2. As described above, the dump truck 2 travels according to the travel route CS generated by the processing device 12, and the travel route CS includes the position of the entrance GL.
  • the position of the entrance GL is defined by the processing device 12 in the GPS coordinate system, and the processing device 12 determines that the dump truck 2 is connected to the entrance GL based on the information on the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not it has arrived.
  • the processing device 12 determines whether or not the dump truck 2 has arrived at the entrance GL based on the travel route CS (position of the entrance GL) generated by the processing device 12 and the detection result of the position detection device 29.
  • the point in time when the dump truck 2 arrives at the entrance GL is defined as the end point Te4 of the empty traveling operation of the dump truck 2.
  • the processing device 12 performs the empty traveling operation of the dump truck 2 from the earth discharging site DPA to the intersection of the conveyance path HL and from the intersection of the conveyance path HL to the loading field LPA.
  • the start time and end time of the first unloading operation of the dump truck 2 and the start time and end time of the second unloading operation may be defined. Good.
  • One or both of the end time of the first unloading operation and the start time of the second unloading operation include the time when the dump truck 2 passes the intersection of the transport path HL, and the GPS position of the dump truck 2 is Can be defined based on.
  • the processing device 12 when branching from the intersection of the conveyance path HL to the conveyance path HL leading to the first loading field LPA and the conveyance path HL leading to the second loading field LPA, the processing device 12
  • the empty load travel operation is performed by the third empty load travel operation from the intersection of the transport path HL to the first loading field LPA, and the fourth empty load from the intersection of the transport path HL to the second loading field LPA.
  • the start time and end time of the third empty load travel operation of the dump truck 2 and the start time and end time of the fourth empty load travel operation may be defined separately from the travel operation.
  • One or both of the start time point of the third unloading traveling operation and the start time point of the fourth unloading traveling operation include the time point when the dump truck 2 passes the intersection of the conveyance path HL, and the GPS position of the dump truck 2 is Can be defined based on.
  • the number of dump trucks 2 that can be placed (accessible) at the loading site LPA is limited. Therefore, when a predetermined number of dump trucks 2 already exist in the loading site LPA, at least one dump truck 2 of the loading site LPA has arrived at the dump truck 2 that has arrived at the entrance GL of the loading site LPA. It waits (stops) at the entrance GL until it moves out of the LPA. Then, after at least one of the dump trucks 2 at the loading site LPA moves out of the loading site LPA and the standby state of the dump truck 2 waiting at the entrance GL is released, the dump at the entrance GL is released. The truck 2 moves to the loading position LP of the loading site LPA.
  • FIG. 9 is a schematic diagram showing an example of the loading area LPA. A loading operation by the loading machine 3 is performed on the dump truck 2 located at the loading position LP of the loading field LPA. FIG. 9 shows a state where the dump truck 2C is waiting at the entrance GL of the loading site LPA.
  • the dump truck 2 is predetermined until the previous dump truck 2C enters the loading site LPA or after the previous dump truck 2C enters the loading site LPA and starts the loading operation at the loading position LP. There is a case of waiting at the entrance GL until the time elapses. Further, the loading position LP may change in the loading site LPA depending on the mining situation or the like, and the entrance of the loading site LPA until the travel route CS corresponding to the changed loading position LP is created. There are cases where the dump truck 2 stands by in the GL.
  • the GPS position of the dump truck 2C is detected by the position detection device 29 mounted on the dump truck 2C, and the GPS position of the dump truck 2 is detected by the position detection device 29 mounted on the dump truck 2.
  • the detection results of the position detection device 29 of the dump truck 2C and the position detection device 29 of the dump truck 2 are output to the processing device 12 via the communication system 9.
  • the processing device 12 can determine whether the dump truck 2C has arrived at the entrance GL based on the detection result of the position detection device 29 of the dump truck 2C.
  • the processing device 12 also dumps behind the dump truck 2C that has arrived at the entrance GL and is in a standby state based on the detection result of the position detection device 29 of the dump truck 2C and the detection result of the position detection device 29 of the dump truck 2. It can be determined whether the truck 2 has arrived.
  • the processing device 12 determines that the dump truck 2 has arrived at the entrance GL when the dump truck 2 has arrived behind the dump truck 2C in the standby state at the entrance GL.
  • the processing device 12 defines the point in time when the dump truck 2 in the empty state arrives behind the dump truck 2C in the standby state at the entrance GL as the arrival point when the dump truck 2 arrives at the entrance GL. In the present embodiment, the processing device 12 defines a point in time when the dump truck 2 arrives behind the dump truck 2C in the standby state at the entrance GL as an end point Te4 of the empty truck traveling operation of the dump truck 2.
  • step SA9 When the dump truck 2 arrives behind the dump truck 2C in the standby state at the entrance GL and the running of the dump truck 2 is stopped, the standby operation of the dump truck 2 at the entrance GL is started (step SA9).
  • the processing device 12 defines the time point when the dump truck 2 arrives behind the dump truck 2C in the standby state at the entrance GL as the start time Ts5 of the entrance standby operation of the dump truck 2. That is, in the present embodiment, the end time Te4 of the unloading travel operation is the same as the start time Ts5 of the entrance standby operation.
  • the processing device 12 After at least one of the dump trucks 2 at the loading site LPA has moved out of the loading site LPA and the dump truck 2 waiting at the entrance GL is ready to enter the loading site LPA, the processing device 12 outputs (transmits) a command signal to start traveling to the dump truck 2 waiting at the entrance GL. As a result, the standby state of the dump truck 2 is released, and the entrance standby operation ends (step SA10).
  • the dump truck 2 released from the standby state starts traveling and enters the loading site LPA from the entrance GL according to the traveling route CS.
  • the processing device 12 defines the point in time Te5 of the entrance standby operation of the dump truck 2 when the dump truck 2 in a standby state at the entrance GL starts to travel (restarts).
  • the processing device 12 defines the end time Te5 based on the position information of the dump truck 2 output from the position detection device 29.
  • the processing device 12 is based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not the dump truck 2 has departed from the standby position of the entrance GL.
  • the processing device 12 determines whether or not the dump truck 2 has started moving from the standby position of the entrance GL based on the detection result of the position detection device 29, and the dump truck 2 moves from the standby position of the entrance GL.
  • the start time is defined as the end time Te5 of the entrance standby operation of the dump truck 2. Note that the processing device 12 may define the end time Te5 as a time point when the standby state of the dump truck 2 at the entrance GL is canceled and a command signal for starting travel is output.
  • the dump truck 2 After completion of the entrance standby operation, the dump truck 2 starts the spot operation (step SA11).
  • the spot operation refers to an operation of moving from the standby state at the standby position of the entrance GL to the loading position LP of the loading site LPA.
  • the processing device 12 starts the spot operation based on the time when the dump truck 2 starts moving from the standby position of the entrance GL based on the position information of the dump truck 2 output from the position detection device 29. It is defined at time Ts6. That is, in the present embodiment, the end time Te5 of the entrance standby operation is the same as the start time Ts6 of the spot operation.
  • the processing apparatus 12 may prescribe
  • the dump truck 2 that has arrived at the entrance GL of the loading site LPA enters a standby state, but the predetermined amount is stored in the loading site LPA.
  • the number of dump trucks 2 does not exist (when the loading site LPA is empty)
  • the dump truck 2 that has arrived at the entrance GL of the loading site LPA does not stop (wait) at the entrance GL, and You may enter LPA and travel to loading position LP.
  • the point in time when the dump truck 2 passes the entrance GL of the loading site LPA may be defined as the end time Te4 of the unloading operation of the dump truck 2 or the spot operation start time Ts6. Also good.
  • the dump truck 2 travels according to the travel route CS generated by the processing device 12, and moves from the entrance GL to the loading position LP. As a result, the spot operation ends (step S12).
  • the processing device 12 defines the time when the dump truck 2 arrives at the loading position LP as the spot operation end time Te6.
  • the processing device 12 determines whether or not the dump truck 2 is disposed at the loading position LP based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29, and the dump truck 2 is loaded at the loading position LP.
  • the point in time when it is placed in the LP is defined as the end point Te6 of the spot operation of the dump truck 2.
  • the spot operation may be divided into a first spot operation and a second spot operation.
  • first spot operation when the dump truck 2 enters the loading position LP, after the dump truck 2 moves forward from the entrance GL to the loading site LPA with the front portion of the dump truck 2 directed to the loading position LP.
  • the steering operation of the dump truck 2 is performed so that the rear part of the dump truck 2 is directed to the loading position LP, and then the so-called switchback operation in which the dump truck 2 enters the loading position LP while moving backward. May be performed.
  • the dump truck 2 may wait at a predetermined position (switchback position) of the loading site LPA that is away from the loading position LP before starting reverse travel.
  • the processing apparatus 12 sets the operation of the dump truck 2 that moves from the standby state at the standby position of the inlet GL to the switchback position as the first spot operation and moves from the switchback position to the loading position LPA.
  • the operation of the dump truck 2 to be performed may be the second spot operation.
  • the processing device 12 may define the start point and end point of the first spot operation of the dump truck 2 and the start point and end point of the second spot operation.
  • the spot operation end point Te6 is the same as the loading operation start point Ts1.
  • a loading operation is performed on the dump truck 2 disposed at the loading position LP.
  • the processing device 12 defines the start time Ts7 and the end time Te7 of the travel stop operation of the dump truck 2. Based on the GPS position of the dump truck 2 output from the position detection device 29, the processing device 12 can define the start time Ts7 and the end time Te7 of the travel stop operation on the conveyance path HL.
  • the GPS position of the dump truck 2 does not change.
  • the GPS position of the dump truck 2 changes.
  • the start time Ts7 and the end time Te7 of the travel stop operation can be defined.
  • the processing device 12 may define the start time Ts7 and the end time Te7 of the travel stop operation based on the detection result of the speed sensor 27 of the dump truck 2.
  • a plurality of dump trucks 2 are operated, and a start time (Ts1 to Ts7) and an end time (Te1 to Te7) of each operation are defined for each of the plurality of dump trucks 2.
  • Each of the plurality of dump trucks 2 has an identifier (ID), and the processing device 12 associates the identifier with the identifier, and each operation of each of the plurality of dump trucks 2 starts (Ts1 to Ts7) and ends ( Te1 to Te7) are defined.
  • the processing device 12 can derive the time required for each operation based on the start time (Ts1 to Ts7) and the end time (Te1 to Te7) of each operation for each of the plurality of dump trucks 2. For example, the processing device 12 calculates the entrance standby time of the dump truck 2 from the arrival time when the dump truck 2 arrives at the entrance GL until the standby state at the entrance GL is released based on the start time Ts5 and the end time Te5. Can be calculated.
  • the loading position LP is determined on one side of the loading machine 3, and the empty dump truck 2 is sequentially arranged at the loading position LP.
  • the time when 2 was placed at the loading position LP was defined as the loading operation start time Ts1.
  • loading positions LP are determined on both sides of the loading machine 3, and the loading position LP on the other side is loaded during the loading operation on the dump truck 2 arranged at the loading position LP on one side.
  • the dump truck 2 is arranged.
  • FIG. 10 is a schematic diagram showing an example of the loading site LPA
  • FIG. 11 is a flowchart showing an example of the loading operation.
  • the loading machine 3 performs the loading operation on the dump truck 2C arranged at the loading position LPc of the loading field LPA (step SC1).
  • the loading position LPc is determined on one side of the loading machine 3.
  • Information regarding the GPS position of the dump truck 2C when the loading operation is performed at the loading position LPc is output to the processing device 12 of the management device 10 via the communication system 9.
  • the input device 31 is operated by the worker WM of the loading machine 3 (step SC2).
  • the worker WM pushes (operates) the input button when the loading operation on the dump truck 2C is completed.
  • the operation signal generated by the input device 31 is output to each of the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2C via the communication system 9.
  • the processing device 12 defines the end time Te1 of the loading operation of the dump truck 2C based on the operation signal generated by the input device 31 at the end of the loading operation (step SC3).
  • the end time Te1 of the loading operation of the dump truck 2C includes the start time Ts2 of the loading operation of the dump truck 2C.
  • the operation signal generated by the input device 31 at the end of the loading operation for the dump truck 2C includes a departure command signal from the loading position LPc for the dump truck 2C.
  • the dump truck 2C starts from the loading position LPc toward the dumping site DPA.
  • the processing device 12 of the management device 10 that has received the operation signal from the input device 31 may instruct the dump truck 2C to leave from the loading position LPc via the communication system 9.
  • the loading machine 3 loads the load onto the dump truck 2 disposed at the loading position LP (step SA1).
  • the dump truck 2 arrives at the loading position LP before the loading operation for the dump truck 2C is completed (step SA0).
  • the loading position LP is a position different from the loading position LPc, and is determined on the other side of the loading machine 3. That is, in the present embodiment, in the loading operation of loading a load onto the dump truck 2C disposed at the loading position LPc, the dump truck 2 is already disposed at the loading position LP different from the loading position LPc.
  • the dump truck 2 that has arrived at the loading position LP stands by (stops traveling) at the loading position LP until the loading operation on the dump truck 2C is completed.
  • the loading position LPc and the loading position LP are different positions.
  • the loading position LPc is determined on one side of the loading machine 3, and The loading position LP is determined on the other side.
  • the loading machine 3 turns after completion of the loading operation on the dump truck 2C arranged at the loading position LPc, and loads on the dump truck 2 already arranged at the loading position LP in the loading operation on the dump truck 2C. Doing work.
  • the loading position LPc and the loading position LP are included in the travel route CS, for example, and are defined by the processing device 12.
  • the loading machine 3 performs loading work (both-side loading work) on each of the dump truck 2C and the dump truck 2 arranged on both sides.
  • the arrival time when the dump truck 2 arrives at the loading position LP is the end time Te6 of the spot operation of the dump truck 2, and is obtained based on information on the GPS position of the dump truck 2.
  • the processing device 12 obtains the GPS position of the dump truck 2 based on the detection result of the position detection device 29, and defines (sets) the arrival time Te6 based on the GPS position of the dump truck 2.
  • the processing device 12 may define the arrival time Te6 based on at least one of the detection result of the speed sensor 27 and the information regarding the GPS position of the dump truck 2.
  • the operation signal generated by the input device 31 in step SC2 is a notification signal of completion of loading operation for the dump truck 2C and a start command signal from the loading position LPc of the dump truck 2C, and also the product for the dump truck 2 This is a notification signal of the start of the loading operation.
  • the operation signal generated by the input device 31 is output to the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2 via the communication system 9.
  • the processing device 12 defines (sets) the loading work start time Ts1 for the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading work for the dump truck 2C. That is, in the present embodiment, the processing device 12 defines the loading work start time Ts1 for the dump truck 2 based on the operation signal generated by the input device 31 at the start of the loading operation.
  • the time from the arrival time Te6 when the dump truck 2 arrives at the loading position LP to the start time Ts1 at which the loading operation on the dump truck 2 is started is the time of the dump truck 2 at the loading position LP. It is a waiting time (stop time).
  • the arrival time Te6 is defined based on the detection result of the position detection device 29, and the start time Ts1 is based on the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2C. It is prescribed.
  • the processing device 12 defines the time point when the operation signal from the input device 31 is input in a state where the dump truck 2 exists at the loading position LP as the start time point Ts1.
  • the start time Ts1 is operated by the input device 31 being operated. Is the time when is generated.
  • the processing device 12 arrives when the dump truck 2 has arrived at the loading position LP based on the detection result of the position detecting device 29 and the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2C.
  • the waiting time from the time point Te6 to the loading work start time point Ts1 is derived.
  • the input device 31 When the loading operation on the dump truck 2 is completed, the input device 31 is operated by the worker WM of the loading machine 3 (step SA2).
  • the operation signal generated by the input device 31 is output to the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2 via the communication system 9.
  • the processing device 12 defines the end time Te1 of the loading operation for the dump truck 2 based on the operation signal generated by the input device 31 when the loading operation for the dump truck 2 is completed.
  • the operation signal generated by the input device 31 at the end of the loading operation for the dump truck 2 includes a starting command signal from the loading position LP for the dump truck 2.
  • the processing device 12 defines the start time Ts2 of the load traveling operation of the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2 (step SA2).
  • the processing device 12 defines the time point when the operation signal is generated by the input device 31 (the time point when the operation signal is input to the processing device 12) as the start time point Ts2 (step SA3).
  • step SA2 the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2 (step SA2). Based on the above, the start time Ts1 of the loading operation for the next dump truck 2 is defined.
  • the processing device 12 outputs an allocation command for the dump truck 2 in the mine to the dump truck 2 based on the position information of each of the plurality of dump trucks 2.
  • the signal related to the allocation command may be output based on the operation of the input device 17 by the operator, or the processing device 12 may calculate the allocation of the dump truck 2 and automatically output it.
  • the processing device 12 defines the start time and end time of each operation of the plurality of dump trucks 2 based on the position information of the dump truck 2, and the dump truck 2 associated with each operation of the dump truck 2. Accurately grasp position information and time information (start time and end time).
  • the processing device 12 can appropriately perform the vehicle allocation management based on the position information and time information of the dump truck 2 associated with each operation of the dump truck 2, and outputs a vehicle allocation command (allocation command). be able to.
  • the processing capacity of the loading machine 3 existing in each loading site LPA for example, the number of dump trucks 2 that can be loaded per unit time
  • the number of dump trucks 2 allocated to the loading machine 3 having a low processing capacity is increased, the number of dump trucks 2 that have to wait for the loading operation increases, and the productivity in the mine is increased. May be reduced.
  • the processing device 12 is configured to prevent a decrease in productivity in the mine based on accurate time information of the dump truck 2 associated with each operation of the dump truck 2 (loading). Deriving how many dump trucks 2 should be allocated to which loading site LPA (loading machine 3) so that the number of dump trucks 2 that have to wait for work does not increase) it can.
  • the processing device 12 can output the derived allocation of the dump truck 2 to each of the plurality of dump trucks 2.
  • the travel time (load travel time, empty travel time) of the dump truck 2 in the transport path HL may be different for each transport path HL.
  • the traveling time of the dump truck 2 on the transport path HL may be different depending on the work situation such as the repair work of the transport path HL.
  • the traveling time of the dump truck 2 on the conveyance path HL may change depending on the number of intersections of the conveyance path HL.
  • the travel time of the dump truck 2 from the first position of the transport path HL to the intersection depends on the characteristics of the transport path HL and the work situation. And the traveling time of the dump truck 2 from the intersection of the transport path HL to the second position may be different.
  • the first loading field LPA when branching from the intersection of the transport path HL to the transport path HL leading to the first loading field LPA and the transport path HL leading to the second loading field LPA, the first loading field LPA
  • the traveling time of the dump truck 2 traveling on the transport path HL leading to the first loading field LPA depending on the characteristics and work conditions of the transport path HL leading to the second loading field DPA
  • the traveling time of the dump truck 2 traveling on the conveyance path HL leading to the second loading field LPA is different.
  • the first soil discharge field DPA when branching from the intersection of the transport path HL to the transport path HL leading to the first soil discharge field DPA and the transport path HL leading to the second soil discharge field DPA, the first soil discharge field DPA
  • the traveling time of the dump truck 2 traveling on the transport path HL leading to the first soil disposal site DPA, depending on the characteristics and work conditions of the transport path HL leading to the second soil disposal site DPA There is a possibility that the traveling time of the dump truck 2 traveling on the conveyance path HL leading to the second earth discharging site DPA is different.
  • the traveling speed of the dump truck 2 must be limited depending on the characteristics of the transportation path HL and the situation at the site, and as a result, the traveling time of the dump truck 2 on the transportation path HL may change.
  • the operation, position information, and time information of the dump truck 2 such as how much time it takes for the dump truck 2 to travel on which conveyance path HL (load traveling, empty traveling) are taken. Therefore, the processing device 12 can perform appropriate vehicle allocation management or vehicle allocation commands so that the dump truck 2 does not run at low speed or traffic jams.
  • the departure site DPA is departed.
  • the dump truck 2 passing through the intersection of the transport path HL and going to the first loading field LPA is passed through the transport path HL leading to the first loading field LPA and the entrance of the first loading field LPA. Even if an allocation command is output to the dump truck 2 so that the dump truck 2 travels on the conveyance path HL toward the second loading place LPA so that the dump truck 2 does not run at low speed or traffic jams. Good.
  • the loading field LPA is departed.
  • the dump truck 2 passing through the intersection of the transport path HL and heading for the first dumping site DPA causes the dump truck 2 to run at a low speed and congestion on the transport path HL leading to the first dumping site DPA.
  • An allocation command may be output to the dump truck 2 so that the dump truck 2 travels on the conveyance path HL toward the second dumping site DPA.
  • the processing device 12 accurately grasps the position information and time information (time required for the operation) associated with each operation of the dump truck 2, and therefore, based on the information, the mine It is possible to determine an appropriate number of dump trucks 2 to be loaded into the vehicle. Similarly, when there are too many dump trucks 2 input to the mine, the processing apparatus 12 can determine an appropriate number of dump trucks 2 input to the mine.
  • the start time and the end time of the predetermined operation of the dump truck 2 are defined based on the position information of the dump truck 2, it is associated with the position information of the dump truck 2. It is possible to accurately obtain the start time and end time of the predetermined operation. That is, according to the present embodiment, since the position information and time information of the dump truck 2 on which the operation is performed are accurately obtained in association with each of the plurality of operations of the dump truck 2, the dump truck 2 in the mine Accurate vehicle allocation status (allocation status, operating status) can be acquired. Therefore, it is possible to perform appropriate vehicle allocation management (assignment management) that suppresses a decrease in productivity in the mine based on the acquired vehicle allocation situation.
  • the processing device 12 can grasp for each dump truck 2 how long it takes to perform what operation at which position in the mine. In order not to occur, each of the plurality of dump trucks 2 can travel toward an appropriate site (loading site LPA, earth discharging site DPA).
  • the dump truck 2 when the dump truck 2 arrives at a position (standby position) behind the dump truck 2C in the standby state at the entrance GL of the loading site LPA and away from the dump truck 2C by a predetermined distance. It is determined that the dump truck 2 has arrived at the entrance GL. Therefore, even when the dump truck 2C is waiting at the entrance GL, the empty travel time of the dump truck 2 can be accurately obtained. Therefore, on the basis of the determined unloading travel time, appropriate vehicle allocation management is performed so that the number of dump trucks 2 that have to wait for loading work does not increase in each of the plurality of loading sites LPA. It can be carried out.
  • the previous dump truck at the loading site LP (loading position LPc).
  • the next dump truck 2 arrives at the loading position LP while the loading operation for 2C is being performed, based on the operation signal generated by the input device 31 at the end of the loading operation for the dump truck 2C. Since the start time Ts1 of the loading operation for the dump truck 2 is defined, an appropriate dispatch is considered in consideration of the waiting time from the arrival time Te6 when the dump truck 2 arrives at the loading position LP to the start time Ts1. Management can be performed.
  • the operation signal generated by the input device 31 at the end of the loading operation is used for defining the end time Te1 and the start time Ts2, and the departure from the loading position LP with respect to the dump truck 2 Also serves as a command signal. Therefore, if the input device 31 is not operated, the dump truck 2 does not start from the loading position LP but stays at the loading position LP. This prevents the worker WM from forgetting to operate the input device 31.
  • the position information of the dump truck 2 is detected using GPS.
  • the method of detecting the position information of the dump truck 2 is not limited to the method using GPS.
  • the position information of the dump truck 2 may be obtained by dead reckoning navigation using a gyro sensor and a speed sensor arranged on the dump truck 2.
  • the processing device 12 may obtain the time (cycle time) required for one cycle from the time required for each of the plurality of operations of the dump truck 2. For example, the processing device 12 can obtain the cycle time from the start time Ts1 and the start time Ts1 after one cycle. Further, the processing device 12 cycles from a start time Ts2 (end time Te1) defined based on the operation signal generated by the input device 31 and a start time Ts2 (end time Te1) after one cycle. You can also ask for time.
  • the mine site status (excavation status, work status, etc.) changes every moment, and accordingly, the travel stop time on the transport path HL may change.
  • a cycle time that is not affected by on-site conditions a cycle time that does not include the travel stop time in the transport path HL
  • the time required for each of the operations described above discharge operation time, empty travel time, entrance waiting time
  • Spot time loading work time
  • the travel stop time on the conveyance path HL and the loading are calculated from the total cycle time.
  • the cycle time obtained by subtracting the waiting time at the position LP (the time from the arrival time Te6 to the loading position LP to the loading operation start time Ts1) may be obtained, or the travel stop on the transport path HL is stopped from the total cycle time. You may obtain
  • dispatch management of the dump truck 2 in the mine may be performed based on the cycle time that is not affected by the site conditions.
  • the dump truck 2 may be a so-called manned dump truck that is operated by an operator (driver) operation.
  • Management system Dump truck (transport machine) 3 loading machine 9 communication system 10 management device 12 processing device 13 storage device 18 wireless communication device 20 processing device 25 storage device 28 wireless communication device 29 position detection device 29A antenna 30 processing device 31 input device 32 wireless communication device 33 position detection device 39 Storage Device DP Excavation Position DPA Excavation Site HL Transport Path LP Loading Position LPA Loading Site

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Abstract

A management system arranged in a conveyance machine that travels through a mine and comprising: a position detection device capable of detecting position information for the conveyance machine; and a processing device to which the position information for the conveyance machine detected by the position detection device is output. The processing device regulates at least either the starting time or the ending time for each of a plurality of actions of the conveyance machine, on the basis of position information for the conveyance machine output from the position detection device.

Description

管理システム及び管理方法Management system and management method
　本発明は、鉱山機械の管理システム及び管理方法に関する。 The present invention relates to a mining machine management system and management method.
　鉱山の採掘現場においては、積荷を運搬する運搬機械や、運搬機械に積荷を積み込む積込機械などの鉱山機械が稼働する。特許文献１には、ＩＣタグを使って積み出し作業を管理する管理システムに関する技術が開示されている。 In the mining site of the mine, mining machines such as a transporting machine for transporting the load and a loading machine for loading the load into the transporting machine are operated. Patent Document 1 discloses a technique related to a management system that manages an unloading operation using an IC tag.
特開２００９－００２１０９号公報JP 2009-002109 A
　鉱山において運搬機械の種々の動作に要する時間が管理されないと、例えば、鉱山における運搬機械の適正な割り当て（配車）が困難となり、その結果、鉱山における生産性が低下する可能性がある。 If the time required for various operations of the transport machine in the mine is not managed, for example, it is difficult to properly allocate (distribute) the transport machine in the mine, and as a result, the productivity in the mine may be reduced.
　本発明は、鉱山における生産性の低下を抑制できる鉱山機械の管理システム及び管理方法を提供することを目的とする。 This invention aims at providing the management system and management method of a mining machine which can suppress the productivity fall in a mine.
　本発明に係る管理システムは、鉱山を走行する運搬機械に配置され、前記運搬機械の位置情報を検出可能な位置検出装置と、前記位置検出装置で検出された前記運搬機械の位置情報が出力される処理装置と、を備え、前記処理装置は、前記位置検出装置から出力された前記運搬機械の位置情報に基づいて、前記運搬機械の複数の動作それぞれの開始時点及び終了時点の少なくとも一方を規定する。 The management system according to the present invention is disposed in a transport machine that travels in a mine, and a position detection device that can detect position information of the transport machine, and position information of the transport machine that is detected by the position detection device are output. A processing device, and the processing device defines at least one of a start time point and an end time point of each of the plurality of operations of the transporting machine based on the position information of the transporting machine output from the position detection device. To do.
　前記処理装置を有する管制施設を備え、前記処理装置に対して複数の運搬機械それぞれの位置情報が出力され、前記処理装置は、複数の前記運搬機械それぞれの前記位置情報に基づいて、前記鉱山における前記運搬機械の割り当て指令を前記運搬機械に出力してもよい。 A control facility having the processing device is provided, and positional information of each of the plurality of transporting machines is output to the processing device, and the processing device is based on the positional information of the plurality of transporting machines in the mine. The allocation instruction for the transport machine may be output to the transport machine.
　前記運搬機械は、積荷の積込作業が行われる積込場、積荷の排出作業が行われる排土場、及び前記積込場と前記排土場とを結ぶ搬送路を走行し、前記運搬機械の複数の動作は、積荷が積まれない状態で走行する第１動作、前記積込場の入口の待機位置における待機状態が解除されてから前記積込場の積込位置まで移動する第２動作、前記積込位置において積込機械により積荷が積み込まれる第３動作、及び積荷が積まれた状態で走行する第４動作の少なくとも一つを含んでもよい。 The transporting machine travels on a loading place where a load loading operation is performed, a dumping site where a load discharging operation is performed, and a conveyance path connecting the loading field and the discharging site, and the transporting machine The plurality of operations are a first operation that travels in a state where no load is loaded, and a second operation that moves to the loading position of the loading site after the standby state at the standby position at the loading site is released. In addition, it may include at least one of a third operation in which a load is loaded by the loading machine at the loading position and a fourth operation that travels while the load is loaded.
　前記積込機械に配置された入力装置を備え、前記入力装置により生成される操作信号は、前記運搬機械に対する前記積込位置からの出発の指令信号を含んでもよい。 An input device arranged in the loading machine may be provided, and the operation signal generated by the input device may include a starting command signal from the loading position for the transporting machine.
　前記第３動作の終了時点及び前記第４動作の開始時点の少なくとも一方は、前記入力装置により前記操作信号が生成された時点を含んでもよい。 At least one of the end time of the third operation and the start time of the fourth operation may include a time when the operation signal is generated by the input device.
　前記処理装置は、前記積込場と前記排土場との間で往復する前記運搬機械のサイクル動作に要する時間を算出してもよい。 The processing apparatus may calculate a time required for a cycle operation of the transporting machine that reciprocates between the loading field and the earth discharging field.
　本発明に係る管理方法は、鉱山を走行する運搬機械に配置された位置検出装置で前記運搬機械の位置情報を検出することと、前記位置検出装置で検出された前記運搬機械の位置情報を処理装置に出力することと、前記位置検出装置から出力された前記運搬機械の位置情報に基づいて、前記運搬機械の複数の動作それぞれの開始時点及び終了時点の少なくとも一方を規定することと、を含む。 The management method according to the present invention detects position information of the transport machine with a position detection device arranged in the transport machine traveling in a mine, and processes the position information of the transport machine detected by the position detection device. Output to the apparatus, and defining at least one of a start time and an end time of each of the plurality of operations of the transport machine based on the position information of the transport machine output from the position detection device. .
　本発明によれば、鉱山における生産性の低下が抑制される。 According to the present invention, a decrease in productivity in the mine is suppressed.
図１は、本実施形態に係る鉱山機械の管理システムの一例を示す図である。FIG. 1 is a diagram illustrating an example of a mining machine management system according to the present embodiment. 図２は、本実施形態に係る管理装置の一例を示す図である。FIG. 2 is a diagram illustrating an example of a management apparatus according to the present embodiment. 図３は、本実施形態に係るダンプトラックの一例を示す図である。FIG. 3 is a diagram illustrating an example of the dump truck according to the present embodiment. 図４は、本実施形態に係るダンプトラックの制御系の一例を示す図である。FIG. 4 is a diagram illustrating an example of a dump truck control system according to the present embodiment. 図５は、本実施形態に係る積込機械の一例を示す図である。FIG. 5 is a diagram illustrating an example of the loading machine according to the present embodiment. 図６は、本実施形態に係る積込機械の制御系の一例を示す図である。FIG. 6 is a diagram illustrating an example of a control system of the loading machine according to the present embodiment. 図７は、本実施形態に係る１サイクルにおけるダンプトラックの動作の一例を示すフローチャートである。FIG. 7 is a flowchart showing an example of the operation of the dump truck in one cycle according to the present embodiment. 図８は、本実施形態に係る１サイクルにおけるダンプトラックの動作の一例を示す模式図である。FIG. 8 is a schematic diagram showing an example of the operation of the dump truck in one cycle according to the present embodiment. 図９は、本実施形態に係るダンプトラックの動作の一例を示す模式図である。FIG. 9 is a schematic diagram illustrating an example of the operation of the dump truck according to the present embodiment. 図１０は、本実施形態に係るダンプトラックの動作の一例を示す模式図である。FIG. 10 is a schematic diagram illustrating an example of the operation of the dump truck according to the present embodiment. 図１１は、本実施形態に係る１サイクルにおけるダンプトラックの動作の一例を示すフローチャートである。FIG. 11 is a flowchart showing an example of the operation of the dump truck in one cycle according to the present embodiment. 図１２は、全サイクル時間と基準サイクル時間との関係を示す図である。FIG. 12 is a diagram showing the relationship between the total cycle time and the reference cycle time.
　以下、本発明に係る実施形態について図面を参照しながら説明するが、本発明はこれに限定されない。 Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto.
＜鉱山機械の管理システムの概要＞
　図１は、本実施形態に係る鉱山機械の管理システム１が適用される現場を模式的に示す図である。図１において、管理システム１は、管制施設７に配置され、鉱山機械の管理を行う管理装置１０と、情報を伝達可能な通信システム９と、を備えている。管理システム１は、鉱山機械の運行を管理したり、生産性を評価したりする。鉱山機械とは、鉱山において各種作業に用いる機械類の総称である。本実施形態においては、鉱山機械の一種の運搬機械として、鉱山の採掘により発生した土砂等を積荷として運搬するダンプトラック２が管理される例について説明する。ダンプトラック２は、管理装置１０からの指令信号により作動する、所謂、無人ダンプトラックであり、ダンプトラック２に作業者（運転者）は搭乗しない。なお、鉱山機械が、ダンプトラック２に積荷を積み込む油圧ショベルのような積込機械３を含んでもよい。 <Outline of Mining Machine Management System>
FIG. 1 is a diagram schematically illustrating a site to which a management system 1 for a mining machine according to the present embodiment is applied. In FIG. 1, a management system 1 includes a management device 10 that is disposed in a control facility 7 and manages a mining machine, and a communication system 9 that can transmit information. The management system 1 manages the operation of the mining machine and evaluates the productivity. A mining machine is a general term for machines used for various operations in a mine. In the present embodiment, an example will be described in which a dump truck 2 that transports earth and sand generated by mining as a load is managed as a kind of transporting machine of a mining machine. The dump truck 2 is a so-called unmanned dump truck that operates according to a command signal from the management device 10, and an operator (driver) does not get on the dump truck 2. The mining machine may include a loading machine 3 such as a hydraulic excavator that loads a load on the dump truck 2.
　鉱山において、ダンプトラック２は、積荷の積込作業が行われる積込場ＬＰＡと、積荷の排出作業が行われる排土場ＤＰＡとの間を、積込場ＬＰＡ及び排土場ＤＰＡに通じる搬送路ＨＬを走行して移動する。積込機械３は、積込場ＬＰＡにおいてダンプトラック２に積荷を積み込む。積込場ＬＰＡの積込位置ＬＰで積荷を積み込まれたダンプトラック２は、搬送路ＨＬを走行して排土場ＤＰＡに移動し、排土場ＤＰＡの排土位置ＤＰで積荷を排出する。排土場ＤＰＡにおいて積荷を排出したダンプトラック２は、搬送路ＨＬを走行して積込場ＬＰＡに移動する。 In the mine, the dump truck 2 is transported between the loading site LPA where the loading operation is performed and the discharging site DPA where the discharging operation is performed, to the loading site LPA and the discharging site DPA. Travel on the road HL. The loading machine 3 loads a load onto the dump truck 2 at the loading site LPA. The dump truck 2 loaded with the load at the loading position LP of the loading site LPA travels on the conveyance path HL and moves to the earth discharging site DPA, and discharges the load at the earth discharging position DP of the earth discharging site DPA. The dump truck 2 that has discharged the load at the dump site DPA travels on the transport path HL and moves to the load site LPA.
　通信システム９は、無線通信システムを含み、管理装置１０とダンプトラック２と積込機械３との間において情報を伝達する。管理装置１０とダンプトラック２と積込機械３とは、通信システム９を介して無線通信可能である。 The communication system 9 includes a wireless communication system, and transmits information between the management device 10, the dump truck 2, and the loading machine 3. The management device 10, the dump truck 2, and the loading machine 3 can communicate wirelessly via the communication system 9.
　本実施形態において、ダンプトラック２の位置及び積込機械３の位置が、全方位測位システム（Global　Positioning　System：ＧＰＳ）を用いて検出される。ＧＰＳは、ＧＰＳ衛星５を有し、緯度、経度、及び高度を規定する座標系（ＧＰＳ座標系）における位置を検出する。ＧＰＳにより検出される位置は、緯度、経度、及び高度の座標データ（座標値）を含む。ＧＰＳにより、鉱山におけるダンプトラック２の位置及び積込機械３の位置が検出される。ＧＰＳにより検出される位置は、ＧＰＳ座標系において規定される絶対位置である。以下の説明においては、ＧＰＳによって検出される位置を適宜、ＧＰＳ位置、と称する。 In this embodiment, the position of the dump truck 2 and the position of the loading machine 3 are detected using an omnidirectional positioning system (Global Positioning System: GPS). The GPS has a GPS satellite 5 and detects a position in a coordinate system (GPS coordinate system) that defines latitude, longitude, and altitude. The position detected by the GPS includes latitude, longitude, and altitude coordinate data (coordinate values). The position of the dump truck 2 and the position of the loading machine 3 in the mine are detected by GPS. The position detected by the GPS is an absolute position defined in the GPS coordinate system. In the following description, a position detected by the GPS is appropriately referred to as a GPS position.
＜管理装置＞
　次に、管制施設７に配置される管理装置１０について説明する。図２は、本実施形態に係る管理装置１０の一例を示す機能ブロック図である。図１及び図２に示すように、管理装置１０は、コンピュータシステム１１と、表示装置１６と、入力装置１７と、無線通信装置１８と、を備えている。 <Management device>
Next, the management device 10 disposed in the control facility 7 will be described. FIG. 2 is a functional block diagram illustrating an example of the management apparatus 10 according to the present embodiment. As shown in FIGS. 1 and 2, the management device 10 includes a computer system 11, a display device 16, an input device 17, and a wireless communication device 18.
　コンピュータシステム１１は、処理装置１２と、記憶装置１３と、入出力部１５とを備えている。表示装置１６、入力装置１７、及び無線通信装置１８は、入出力部１５を介して、コンピュータシステム１１と接続される。入出力部１５は、処理装置１２と、表示装置１６、入力装置１７、及び無線通信装置１８の少なくとも一つとの情報の入出力（インターフェース）に用いられる。 The computer system 11 includes a processing device 12, a storage device 13, and an input / output unit 15. The display device 16, the input device 17, and the wireless communication device 18 are connected to the computer system 11 via the input / output unit 15. The input / output unit 15 is used for input / output (interface) of information between the processing device 12 and at least one of the display device 16, the input device 17, and the wireless communication device 18.
　処理装置１２は、ＣＰＵ（Central　Processing　Unit）を含み、ダンプトラック２の管理に関する各種の処理を実行する。処理装置１２は、通信システム９を介して取得したダンプトラック２の位置に関する情報を処理し、ダンプトラック２が走行する走行経路ＣＳを生成する。走行経路ＣＳは、ＧＰＳ座標系において生成され、ダンプトラック２は、積込場ＬＰＡ、排土場ＤＰＡ、及び搬送路ＨＬの少なくとも一部において、処理装置１２により生成された走行経路ＣＳに従って走行する。 The processing device 12 includes a CPU (Central Processing Unit) and executes various processes related to the management of the dump truck 2. The processing device 12 processes the information regarding the position of the dump truck 2 acquired via the communication system 9 and generates a travel route CS on which the dump truck 2 travels. The travel route CS is generated in the GPS coordinate system, and the dump truck 2 travels in accordance with the travel route CS generated by the processing device 12 in at least a part of the loading site LPA, the earth discharging site DPA, and the transport path HL. .
　記憶装置１３は、ＲＡＭ（Random　Access　Memory）、ＲＯＭ（Read　Only　Memory）、フラッシュメモリ、及びハードディスクドライブの少なくとも一つを含み、ダンプトラック２の管理に関する各種の情報を記憶する。表示装置１６は、例えば、液晶ディスプレイのようなフラットパネルディスプレイを含み、ダンプトラック２の位置に関する情報を表示可能である。入力装置１７は、キーボード、タッチパネル、マウス、及び操作スイッチの少なくとも一つを含み、操作されることにより、操作信号が入力される。入力装置１７に入力された操作信号は、処理装置１２に入力される。すなわち、入力装置１７は、処理装置１２に操作信号を入力可能な操作部として機能する。 The storage device 13 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive, and stores various types of information related to the management of the dump truck 2. The display device 16 includes, for example, a flat panel display such as a liquid crystal display, and can display information regarding the position of the dump truck 2. The input device 17 includes at least one of a keyboard, a touch panel, a mouse, and an operation switch, and an operation signal is input by being operated. The operation signal input to the input device 17 is input to the processing device 12. That is, the input device 17 functions as an operation unit that can input an operation signal to the processing device 12.
　通信システム９は、管制施設７に配置される無線通信装置１８を含む。無線通信装置１８は、アンテナ１８Ａを有し、入出力部１５を介して処理装置１２と接続される。無線通信装置１８は、ダンプトラック２及び積込機械３の少なくとも一方から送信された情報を受信可能であり、受信した情報を処理装置１２に出力する。無線通信装置１８で受信した情報は、記憶装置１３に記憶（登録）される。また、無線通信装置１８は、ダンプトラック２及び積込機械３の少なくとも一方に情報を送信可能である。例えば、処理装置１２により生成された走行経路ＣＳに関する情報が、通信システム９を介してダンプトラック２に送信される。 The communication system 9 includes a wireless communication device 18 disposed in the control facility 7. The wireless communication device 18 includes an antenna 18 </ b> A and is connected to the processing device 12 via the input / output unit 15. The wireless communication device 18 can receive information transmitted from at least one of the dump truck 2 and the loading machine 3 and outputs the received information to the processing device 12. Information received by the wireless communication device 18 is stored (registered) in the storage device 13. The wireless communication device 18 can transmit information to at least one of the dump truck 2 and the loading machine 3. For example, information regarding the travel route CS generated by the processing device 12 is transmitted to the dump truck 2 via the communication system 9.
＜ダンプトラック＞
　次に、ダンプトラック２について説明する。図３は、本実施形態に係るダンプトラック２の外観を模式的に示す図であり、図４は、本実施形態に係るダンプトラック２の機能ブロック図である。図３及び図４に示すように、ダンプトラック２は、車両本体２１と、ベッセル２２と、車輪２３と、処理装置２０と、記憶装置２５と、圧力センサ２６と、速度センサ２７と、アンテナ２８Ａが接続された無線通信装置２８と、アンテナ２９Ａが接続された位置検出装置２９と、を備えている。 <Dump truck>
Next, the dump truck 2 will be described. FIG. 3 is a diagram schematically illustrating the appearance of the dump truck 2 according to the present embodiment, and FIG. 4 is a functional block diagram of the dump truck 2 according to the present embodiment. As shown in FIGS. 3 and 4, the dump truck 2 includes a vehicle body 21, a vessel 22, wheels 23, a processing device 20, a storage device 25, a pressure sensor 26, a speed sensor 27, and an antenna 28A. Are connected to each other, and a position detection device 29 to which an antenna 29A is connected.
　車両本体２１には、内燃機関を含む駆動装置が配置され、その駆動装置により車輪２３が駆動される。車輪２３は、タイヤ及びホイールを含み、駆動装置から伝達される動力により回転する。 The vehicle body 21 is provided with a drive device including an internal combustion engine, and the wheels 23 are driven by the drive device. The wheel 23 includes a tire and a wheel, and rotates by power transmitted from the driving device.
　ベッセル２２は、積荷が積載される荷台を含み、車両本体２１の上部に揺動可能に配置される。積込作業において、積込機械３によりベッセル２２に積荷が積み込まれ、排出作業において、ベッセル２２が上昇して積荷が排出される。 The vessel 22 includes a loading platform on which a load is loaded, and is disposed on the upper portion of the vehicle body 21 so as to be swingable. In the loading operation, the load is loaded onto the vessel 22 by the loading machine 3, and in the discharging operation, the vessel 22 is raised and the load is discharged.
　圧力センサ２６は、サスペンションシリンダーに作用する負荷を検出し、サスペンションシリンダーの作動油の圧力を検出することによって、ベッセル２２における積荷の有無の検出、及び積荷の重量（積載量）の検出を行う荷重センサとして機能する。圧力センサ２６は、処理装置２０と接続され、検出信号を処理装置２０に出力する。 The pressure sensor 26 detects a load acting on the suspension cylinder, and detects a load on the vessel 22 and detects a weight (loading amount) of the load by detecting a pressure of hydraulic oil in the suspension cylinder. Functions as a sensor. The pressure sensor 26 is connected to the processing device 20 and outputs a detection signal to the processing device 20.
　速度センサ２７は、車輪２３の回転速度を検出して、ダンプトラック２の走行速度を検出する。速度センサ２７は、処理装置２０と接続され、検出信号を処理装置２０に出力する。 The speed sensor 27 detects the rotational speed of the wheel 23 and detects the traveling speed of the dump truck 2. The speed sensor 27 is connected to the processing device 20 and outputs a detection signal to the processing device 20.
　位置検出装置２９は、ＧＰＳ受信機を含み、ダンプトラック２のＧＰＳ位置を検出する。位置検出装置２９は、ダンプトラック２に配置されたＧＰＳ用のアンテナ２９Ａを有し、アンテナ２９ＡのＧＰＳ位置を検出することによって、ダンプトラック２のＧＰＳ位置を検出する。位置検出装置２９は、処理装置２０と接続され、検出信号を処理装置２０に出力する。 The position detection device 29 includes a GPS receiver and detects the GPS position of the dump truck 2. The position detection device 29 has a GPS antenna 29A disposed on the dump truck 2, and detects the GPS position of the dump truck 2 by detecting the GPS position of the antenna 29A. The position detection device 29 is connected to the processing device 20 and outputs a detection signal to the processing device 20.
　処理装置２０は、ＣＰＵ（Central　Processing　Unit）を含み、ダンプトラック２の管理に関する各種の処理を実行する。処理装置２０は、処理装置１２により生成された走行経路ＣＳに従ってダンプトラック２が走行するように、ダンプトラック２の走行を制御する。ダンプトラック２の走行の制御は、ステアリング、アクセル、及びブレーキの少なくとも一つの操作を含むダンプトラック２の操作の制御を含む。 The processing device 20 includes a CPU (Central Processing Unit) and executes various processes related to the management of the dump truck 2. The processing device 20 controls the traveling of the dump truck 2 so that the dump truck 2 travels according to the traveling route CS generated by the processing device 12. Control of traveling of the dump truck 2 includes control of operation of the dump truck 2 including at least one operation of a steering, an accelerator, and a brake.
　記憶装置２５は、ＲＡＭ（Random　Access　Memory）、ＲＯＭ（Read　Only　Memory）、フラッシュメモリ、及びハードディスクドライブの少なくとも一つを含み、ダンプトラック２の管理に関する各種の情報を記憶する。 The storage device 25 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive, and stores various types of information related to the management of the dump truck 2.
　通信システム９は、ダンプトラック２に配置される無線通信装置２８を含む。無線通信装置２８は、アンテナ２８Ａを有し、処理装置２０と接続される。無線通信装置２８は、管理装置１０及び積込機械３の少なくとも一方から送信された情報（指令信号を含む）を受信可能であり、受信した情報を処理装置２０に出力する。無線通信装置２８で受信した情報は、記憶装置２５に記憶（登録）される。処理装置２０は、無線通信装置２８で受信した指令信号に従って、ダンプトラック２の走行を制御可能である。また、無線通信装置２８は、管理装置１０及び積込機械３の少なくとも一方に情報を送信可能である。例えば、圧力センサ２６、速度センサ２７、及び位置検出装置２９の少なくとも一つの検出信号が、通信システム９を介して管理装置１０に送信される。 The communication system 9 includes a wireless communication device 28 disposed on the dump truck 2. The wireless communication device 28 has an antenna 28 </ b> A and is connected to the processing device 20. The wireless communication device 28 can receive information (including a command signal) transmitted from at least one of the management device 10 and the loading machine 3, and outputs the received information to the processing device 20. Information received by the wireless communication device 28 is stored (registered) in the storage device 25. The processing device 20 can control the traveling of the dump truck 2 according to the command signal received by the wireless communication device 28. The wireless communication device 28 can transmit information to at least one of the management device 10 and the loading machine 3. For example, at least one detection signal of the pressure sensor 26, the speed sensor 27, and the position detection device 29 is transmitted to the management device 10 via the communication system 9.
＜積込機械＞
　次に、積込機械３について説明する。図５は、本実施形態に係る積込機械３の外観を模式的に示す図であり、図６は、本実施形態に係る積込機械３の機能ブロック図である。図５及び図６に示すように、積込機械３は、走行体３８と、旋回体３７と、アーム３５と、バケット３４と、処理装置３０と、記憶装置３９と、アンテナ３２Ａが接続された無線通信装置３２と、アンテナ３３Ａが接続された位置検出装置３３と、表示装置３６と、入力装置３１と、を備えた油圧ショベルである。本実施形態において、積込機械３に作業者ＷＭが搭乗し、作業者ＷＭの操作により、積込作業が行われる。本実施形態において、積込機械３が油圧ショベルの例を挙げるが、ホイールローダでもよい。 <Loading machine>
Next, the loading machine 3 will be described. FIG. 5 is a diagram schematically illustrating the appearance of the loading machine 3 according to the present embodiment, and FIG. 6 is a functional block diagram of the loading machine 3 according to the present embodiment. As shown in FIGS. 5 and 6, the loading machine 3 includes a traveling body 38, a revolving body 37, an arm 35, a bucket 34, a processing device 30, a storage device 39, and an antenna 32 </ b> A. The excavator includes a wireless communication device 32, a position detection device 33 to which an antenna 33A is connected, a display device 36, and an input device 31. In this embodiment, the worker WM gets on the loading machine 3 and the loading operation is performed by the operation of the worker WM. In the present embodiment, the loading machine 3 is an example of a hydraulic excavator, but may be a wheel loader.
　位置検出装置３３は、ＧＰＳ受信機を含み、積込機械３のＧＰＳ位置を検出する。位置検出装置３３は、積込機械３に配置されたＧＰＳ用のアンテナ３３Ａを有し、アンテナ３３ＡのＧＰＳ位置を検出することによって、積込機械３のＧＰＳ位置を検出する。位置検出装置３３は、処理装置３０と接続され、検出信号を処理装置３０に出力する。 The position detection device 33 includes a GPS receiver and detects the GPS position of the loading machine 3. The position detection device 33 includes a GPS antenna 33A disposed on the loading machine 3 and detects the GPS position of the loading machine 3 by detecting the GPS position of the antenna 33A. The position detection device 33 is connected to the processing device 30 and outputs a detection signal to the processing device 30.
　処理装置３０は、ＣＰＵ（Central　Processing　Unit）を含み、積込機械３の積込作業の管理に関する各種の処理を実行する。記憶装置３９は、ＲＡＭ（Random　Access　Memory）、ＲＯＭ（Read　Only　Memory）、フラッシュメモリ、及びハードディスクドライブの少なくとも一つを含み、積込機械３の積込作業の管理に関する各種の情報を記憶する。表示装置３６は、例えば、液晶ディスプレイのようなフラットパネルディスプレイを含み、ダンプトラック２の位置に関する情報、積込機械３の位置に関する情報、及び積込機械３の動作状態（例えば、エンジンの水温など）に関する情報の少なくとも一つを表示可能である。 The processing device 30 includes a CPU (Central Processing Unit) and executes various processes related to the management of the loading operation of the loading machine 3. The storage device 39 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive, and stores various types of information related to the management of the loading operation of the loading machine 3. The display device 36 includes, for example, a flat panel display such as a liquid crystal display, and includes information related to the position of the dump truck 2, information related to the position of the loading machine 3, and an operating state of the loading machine 3 (for example, engine water temperature, etc. ) Can be displayed.
　入力装置３１は、キーボード、タッチパネル、及び操作スイッチの少なくとも一つを含み、操作されることにより、操作信号を生成する。入力装置３１により生成された操作信号は、処理装置３０に入力される。すなわち、入力装置３１は、処理装置３０に操作信号を入力可能な操作部として機能する。積込機械３の作業者（運転者）ＷＭは、入力装置３１を操作して操作信号を生成可能であり、入力装置３１を介して処理装置３０に操作信号を入力可能である。 The input device 31 includes at least one of a keyboard, a touch panel, and an operation switch, and generates an operation signal when operated. The operation signal generated by the input device 31 is input to the processing device 30. That is, the input device 31 functions as an operation unit that can input an operation signal to the processing device 30. An operator (driver) WM of the loading machine 3 can generate an operation signal by operating the input device 31, and can input an operation signal to the processing device 30 via the input device 31.
　通信システム９は、積込機械３に配置された無線通信装置３２を含む。無線通信装置３２は、アンテナ３２Ａを有し、処理装置３０と接続される。無線通信装置３２は、管理装置１０及びダンプトラック２の少なくとも一方から送信された情報（指令信号を含む）を受信可能であり、受信した情報を処理装置３０に出力する。無線通信装置３２で受信した情報は、記憶装置３９に記憶（登録）される。また、無線通信装置３２は、管理装置１０及びダンプトラック２の少なくとも一方に情報を送信可能である。例えば、入力装置３１により生成された操作信号が、通信システム９を介して管理装置１０及びダンプトラック２の少なくとも一方に送信される。 The communication system 9 includes a wireless communication device 32 arranged in the loading machine 3. The wireless communication device 32 has an antenna 32 </ b> A and is connected to the processing device 30. The wireless communication device 32 can receive information (including a command signal) transmitted from at least one of the management device 10 and the dump truck 2, and outputs the received information to the processing device 30. Information received by the wireless communication device 32 is stored (registered) in the storage device 39. The wireless communication device 32 can transmit information to at least one of the management device 10 and the dump truck 2. For example, an operation signal generated by the input device 31 is transmitted to at least one of the management device 10 and the dump truck 2 via the communication system 9.
＜ダンプトラック２の動作＞
　次に、ダンプトラック２の動作の一例について説明する。ダンプトラック２は、鉱山の積込場ＬＰＡの積込位置ＬＰにおいて積込機械３により積荷の積込作業を行われた後、排土場ＤＰＡに向かって積込場ＬＰＡを出発し、搬送路ＨＬを走行して排土場ＤＰＡに到着した後、排土場ＤＰＡの排土位置ＤＰにおいて積荷の排出作業を行い、排出作業を行った後、積込場ＬＰＡに向かって排土場ＤＰＡを出発し、搬送路ＨＬを走行して積込場ＬＰＡに到着した後、積込位置ＤＰにおいて積込作業を行われ、再び排土場ＤＰＡに向かって積込場ＬＰＡを出発する、といった一連の動作を繰り返す。 <Operation of dump truck 2>
Next, an example of the operation of the dump truck 2 will be described. The dump truck 2 is loaded with the loading machine 3 at the loading position LP of the mine loading site LPA, and then departs from the loading site LPA toward the dumping site DPA. After traveling through HL and arriving at the dumping site DPA, the cargo is discharged at the dumping position DP of the dumping site DPA. After discharging, the dumping site DPA is moved toward the loading site LPA. A series of starting, traveling on the transport path HL and arriving at the loading site LPA, then loading work is performed at the loading position DP, and again leaving the loading site LPA toward the dumping site DPA. Repeat the operation.
　積込場ＬＰＡは、鉱山において積荷の積込作業が行われる領域（場所）であり、積込位置ＬＰは、積込場ＬＰＡにおいて積荷の積込作業が行われる位置（積込点）であり、積込作業は、ダンプトラック２に積荷を積み込む作業である。排土場ＤＰＡは、鉱山において積荷の排出作業が行われる領域（場所）であり、排土位置ＤＰは、排土場ＤＰＡにおいて積荷の排出作業が行われる位置（排出点）であり、排出作業は、ダンプトラック２から積荷を下ろす（排出する）作業である。搬送路ＨＬは、積込場ＬＰＡと排土場ＤＰＡとを結び、ダンプトラック２は、搬送路ＨＬを走行して、積込場ＬＰＡと排土場ＤＰＡとの間を往復可能である。本実施形態において、積込位置ＬＰ及び排土位置ＤＰは、処理装置１２によって規定される。積込位置ＬＰ及び排土位置ＤＰのそれぞれは、処理装置１２によって生成される走行経路ＣＳの一部の位置でもよい。 Loading site LPA is an area (place) where loading work is performed in the mine, and loading position LP is a position (loading point) where loading work is performed at loading site LPA The loading operation is an operation for loading a load onto the dump truck 2. The earth removal site DPA is an area (place) where the load discharge work is performed in the mine, and the earth discharge position DP is the position (discharge point) where the load discharge work is performed at the earth discharge site DPA. Is an operation of unloading (discharging) the load from the dump truck 2. The transport path HL connects the loading site LPA and the earth discharging site DPA, and the dump truck 2 can travel back and forth between the loading site LPA and the earth discharging site DPA by traveling on the transport path HL. In the present embodiment, the loading position LP and the soil discharging position DP are defined by the processing device 12. Each of the loading position LP and the soil discharging position DP may be a partial position of the travel route CS generated by the processing device 12.
　以下の説明において、積込場ＬＰＡを出発してから、積荷を排出する排土場ＤＰＡを経て、積込場ＬＰＡに到着し、再び積込場ＬＰＡを出発するまでのダンプトラック２の一連の動作を適宜、サイクル動作、と称し、１回のサイクル動作を適宜、１サイクル、と称する。サイクル動作は、ダンプトラック２が積込場ＬＰＡと排土場ＤＰＡとの間で往復する動作を含む。 In the following description, a series of dump trucks 2 from starting at loading site LPA, arriving at loading site LPA via dumping site DPA for discharging cargo, and again leaving loading site LPA The operation is appropriately referred to as a cycle operation, and one cycle operation is appropriately referred to as one cycle. The cycle operation includes an operation in which the dump truck 2 reciprocates between the loading site LPA and the earth discharging site DPA.
　なお、１サイクルの定義はこれに限定されるものではなく、例えば積込場ＬＰＡで到着してから、積込作業及び排土場ＤＰＡでの排出作業が行われた後、再び積込場ＬＰＡに到着するまでの一連の動作を１サイクルと定義してもよいし、排土場ＤＰＡを出発してから、積込場ＬＰＡを経て、再び排土場ＤＰＡを出発するまでの一連の動作を１サイクルと定義してもよい。なお、第１の積込作業が行われた後、１回のサイクル動作を経て、第２の積込作業が行われる場合において、第１の積込作業における積込位置ＬＰと第２の積込作業における積込位置ＬＰとは、同じ位置でもよいし、異なる位置でもよい。なお、第１の排出作業が行われた後、１回のサイクル動作を経て、第２の排出作業が行われる場合において、第１の排出作業における排土位置ＤＰと第２の排出作業における排土位置ＤＰとは、同じ位置でもよいし、異なる位置でもよい。 The definition of one cycle is not limited to this. For example, after arriving at the loading site LPA, the loading operation and the discharging operation at the earth discharging site DPA are performed, and then the loading site LPA is again performed. A series of operations until arriving at the site may be defined as one cycle, or a sequence of operations from leaving the dumping site DPA to passing through the loading site LPA and then leaving the dumping site DPA again. One cycle may be defined. In addition, when the second loading operation is performed after one cycle operation after the first loading operation, the loading position LP and the second product in the first loading operation are performed. The loading position LP in the loading operation may be the same position or a different position. When the second discharge operation is performed after one cycle operation after the first discharge operation, the soil discharge position DP in the first discharge operation and the discharge in the second discharge operation are performed. The soil position DP may be the same position or a different position.
　また、図１に示したように、鉱山においては、複数の積込場ＬＰＡが存在する場合、あるいは複数の排土場ＤＰＡが存在する場合がある。第１の積込作業が行われた後、１回のサイクル動作を経て、第２の積込作業が行われる場合において、第１の積込作業が行われる積込場ＬＰＡと第２の積込作業が行われる積込場ＬＰＡとは、同じ積込場ＬＰＡでもよいし、異なる積込場ＬＰＡでもよい。第１の排出作業が行われた後、１回のサイクル動作を経て、第２の排出作業が行われる場合において、第１の排出作業が行われる排土場ＤＰＡと第２の排出作業が行われる排土場ＤＰＡとは、同じ排土場ＤＰＡでもよいし、異なる排土場ＤＰＡでもよい。 In addition, as shown in FIG. 1, in a mine, there may be a plurality of loading sites LPA or a plurality of earth discharging sites DPA. After the first loading operation is performed, the first loading operation is performed through one cycle operation, and in the case where the second loading operation is performed, the loading site LPA and the second loading operation are performed. The loading site LPA where the loading operation is performed may be the same loading site LPA or a different loading site LPA. After the first discharging operation is performed, after the first discharging operation, when the second discharging operation is performed, the earth discharging site DPA in which the first discharging operation is performed and the second discharging operation are performed. The same earth removal site DPA may be used as the earth removal site DPA, or different earth removal site DPA.
　サイクル動作において、ダンプトラック２は、複数の動作を行う。ダンプトラック２の複数の動作は、例えば、排土場ＤＰＡにおいて積荷の排出作業を行う排出動作、排土場ＤＰＡにおける排出作業後、積荷が積まれない空荷状態で積込場ＬＰＡの入口まで走行する空荷走行動作、積込場ＬＰＡの入口に到着した後、その入口で待機する入口待機動作、積込場ＬＰＡの入口の待機位置における待機状態が解除されてから積込場ＬＰＡの積込位置ＬＰまで移動するスポット動作、積込位置ＬＰにおいて積込機械３により積荷が積み込まれる積込動作、及び積荷が積まれた積荷状態で積込場ＬＰＡから排土場ＤＰＡまで走行する積荷走行動作の少なくとも一つを含む。また、ダンプトラック２の複数の動作は、搬送路ＨＬにおいて走行を停止する走行停止動作を含む。 In the cycle operation, the dump truck 2 performs a plurality of operations. A plurality of operations of the dump truck 2 are, for example, a discharging operation for discharging the load at the dumping site DPA, and after the discharging operation at the dumping site DPA to an entrance of the loading site LPA in an unloaded state where no load is loaded. An unloading operation to travel, an arrival standby operation to wait at the entrance after arrival at the entrance of the loading site LPA, and a product at the loading site LPA after the standby state at the standby position at the entrance of the loading site LPA is released Spot movement to move to the loading position LP, loading operation to load the load by the loading machine 3 at the loading position LP, and load traveling to travel from the loading site LPA to the dumping site DPA in the loaded state. Including at least one of the actions. Further, the plurality of operations of the dump truck 2 include a travel stop operation for stopping travel on the transport path HL.
　サイクル動作の少なくとも一部において、ダンプトラック２の位置情報がＧＰＳを用いて検出される。すなわち、ダンプトラック２に配置されているＧＰＳ受信機を含む位置検出装置２９によってそのダンプトラック２のＧＰＳ位置が検出される。位置検出装置２９によって検出されたダンプトラック２のＧＰＳ位置に関する情報が通信システム９を介して管理装置１０の処理装置１２に出力される。 At least part of the cycle operation, the position information of the dump truck 2 is detected using GPS. That is, the GPS position of the dump truck 2 is detected by the position detection device 29 including the GPS receiver arranged on the dump truck 2. Information regarding the GPS position of the dump truck 2 detected by the position detection device 29 is output to the processing device 12 of the management device 10 via the communication system 9.
　本実施形態において、処理装置１２は、位置検出装置２９から出力されたダンプトラック２の位置情報に基づいて、上述したダンプトラック２の複数の動作のうち少なくとも一つの動作の開始時点及び終了時点の一方又は両方を規定する。例えば、処理装置１２は、位置検出装置２９から出力されたダンプトラック２のＧＰＳ位置に基づいて、排出動作の開始時点及び終了時点、空荷走行動作の開始時点及び終了時点、入口待機動作の開始時点及び終了時点、スポット走行動作の開始時点及び終了時点、積込動作の開始時点及び終了時点、積荷走行動作の開始時点及び終了時点、及び走行停止動作の開始時点及び終了時点のそれぞれを規定する。 In the present embodiment, the processing device 12 is based on the position information of the dump truck 2 output from the position detection device 29, and the start time and the end time of at least one of the plurality of operations of the dump truck 2 described above. Specify one or both. For example, the processing device 12 starts and ends the discharge operation, the start and end times of the unloading operation, and the entrance standby operation based on the GPS position of the dump truck 2 output from the position detection device 29. Specify the start time and end time, the start time and end time of the spot travel operation, the start time and end time of the loading operation, the start time and end time of the load travel operation, and the start time and end time of the travel stop operation. .
　また、処理装置１２は、ダンプトラック２の動作の開始時点及び終了時点に基づいて、その動作に要する時間を導出可能である。処理装置１２は、排出動作の開始時点と終了時点とに基づいて、ダンプトラック２が排出作業に要する排出作業時間を導出可能であり、空荷走行動作の開始時点と終了時点とに基づいて、積荷が積まれない状態でダンプトラック２が走行した空荷走行時間を導出可能であり、入口待機動作の開始時点と終了時点とに基づいて、積込場ＬＰＡの入口においてダンプトラック２が待機した入口待機時間を導出可能であり、スポット動作の開始時点と終了時点とに基づいて、積込場ＬＰＡの入口の待機位置における待機状態が解除されてから積込場ＬＰＡの積込位置ＬＰまでダンプトラック２が移動する時間に要するスポット時間を導出可能であり、積込動作の開始時点と終了時点とに基づいて、ダンプトラック２が積込作業に要する積込作業時間を導出可能であり、積荷走行動作の開始時点と終了時点とに基づいて、積荷が積まれた状態でダンプトラック２が走行した積荷走行時間を導出可能であり、走行停止動作の開始時点と終了時点とに基づいて、搬送路ＨＬにおいてダンプトラック２の走行が停止した停止時間を導出可能である。 Further, the processing device 12 can derive the time required for the operation based on the start time and the end time of the operation of the dump truck 2. The processing device 12 can derive the discharge work time required for the dump truck 2 to perform the discharge work based on the start time and the end time of the discharge operation, and based on the start time and the end time of the unloading operation, It is possible to derive the empty travel time during which the dump truck 2 traveled in a state where no load is loaded, and the dump truck 2 waited at the entrance of the loading site LPA based on the start time and the end time of the entrance standby operation. The waiting time at the entrance can be derived, and dumping is performed up to the loading position LP at the loading site LPA after the waiting state at the waiting position at the entrance of the loading site LPA is canceled based on the start time and end time of the spot operation. The spot time required for the time required for the truck 2 to move can be derived, and the loading work time required for the dump truck 2 to perform the loading work based on the start time and the end time of the loading operation. Based on the start time and end time of the load travel operation, it is possible to derive the load travel time during which the dump truck 2 travels while the load is loaded, and the start time and end time of the travel stop operation. Based on the above, it is possible to derive the stop time when the traveling of the dump truck 2 is stopped in the transport path HL.
　鉱山においては複数のダンプトラック２が稼働し、複数のダンプトラック２のそれぞれがサイクル動作を行う。複数のダンプトラック２のそれぞれのＧＰＳ位置に関する情報が通信システム９を介して管理装置１０の処理装置１２に出力される。処理装置１２は、複数のダンプトラック２それぞれの位置情報に基づいて、それらダンプトラック２それぞれの動作の開始時点及び終了時点を規定するとともに、その動作に要する時間を導出する。 In the mine, a plurality of dump trucks 2 are operated, and each of the plurality of dump trucks 2 performs a cycle operation. Information on the GPS positions of the plurality of dump trucks 2 is output to the processing device 12 of the management device 10 via the communication system 9. Based on the position information of each of the plurality of dump trucks 2, the processing device 12 defines the start time and the end time of the operation of each of the dump trucks 2 and derives the time required for the operation.
＜１サイクルにおけるダンプトラック及び積込機械の動作＞
　次に、１サイクルにおけるダンプトラック２の動作の一例について、図７のフローチャート及び図８の模式図を参照して説明する。 <Operation of dump truck and loading machine in one cycle>
Next, an example of operation | movement of the dump truck 2 in 1 cycle is demonstrated with reference to the flowchart of FIG. 7, and the schematic diagram of FIG.
　積込場ＬＰＡの積込位置ＬＰに配置されたダンプトラック２に対する積込作業が開始される（ステップＳＡ１）。積込位置ＬＰにおいて積込作業が行われているときのダンプトラック２のＧＰＳ位置に関する情報は、通信システム９を介して管理装置１０の処理装置１２に出力される。 Loading operation for the dump truck 2 arranged at the loading position LP of the loading site LPA is started (step SA1). Information regarding the GPS position of the dump truck 2 when the loading operation is being performed at the loading position LP is output to the processing device 12 of the management device 10 via the communication system 9.
　本実施形態において、処理装置１２は、ダンプトラック２が積込位置ＬＰに配置された時点を、ダンプトラック２の積込動作の開始時点Ｔｓ１に規定する。上述のように、ダンプトラック２は、処理装置１２により生成された走行経路ＣＳに従って走行し、走行経路ＣＳは積込位置ＬＰを含む。すなわち、積込位置ＬＰは、ＧＰＳ座標系において処理装置１２によって規定され、処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に関する情報に基づいて、ダンプトラック２が積込位置ＬＰに配置されたか否かを判定可能である。処理装置１２は、処理装置１２が生成した走行経路ＣＳ（積込位置ＬＰ）と、位置検出装置２９の検出結果とに基づいて、ダンプトラック２が積込位置ＬＰに配置されたか否かを判定し、ダンプトラック２が積込位置ＬＰに配置された時点を、ダンプトラック２の積込動作の開始時点Ｔｓ１に規定する。 In the present embodiment, the processing device 12 defines the time point when the dump truck 2 is arranged at the loading position LP as the starting time Ts1 of the loading operation of the dump truck 2. As described above, the dump truck 2 travels according to the travel route CS generated by the processing device 12, and the travel route CS includes the loading position LP. That is, the loading position LP is defined by the processing device 12 in the GPS coordinate system, and the processing device 12 loads the dump truck 2 based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not it is arranged at the position LP. The processing device 12 determines whether or not the dump truck 2 is disposed at the loading position LP based on the travel route CS (loading position LP) generated by the processing device 12 and the detection result of the position detection device 29. The point in time when the dump truck 2 is arranged at the loading position LP is defined as the starting point Ts1 of the loading operation of the dump truck 2.
　積込作業が終了すると、積込機械３の作業者ＷＭにより入力装置３１が操作される（ステップＳＡ２）。入力装置３１は、タッチパネルを含み、タッチパネルは、積込作業の終了をダンプトラック２及び管理装置１０に通知するための操作部（入力ボタン）を含む。作業者ＷＭは、積込作業が終了したとき、その操作部を操作する（入力ボタンを押す）。入力装置３１により生成された操作信号は、通信システム９を介して、管理装置１０の処理装置１２及びダンプトラック２の処理装置２０のそれぞれに出力される。 When the loading operation is completed, the input device 31 is operated by the worker WM of the loading machine 3 (step SA2). The input device 31 includes a touch panel, and the touch panel includes an operation unit (input button) for notifying the dump truck 2 and the management device 10 of the completion of the loading operation. When the loading work is finished, the worker WM operates the operation unit (presses the input button). The operation signal generated by the input device 31 is output to the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2 via the communication system 9.
　本実施形態において、処理装置１２は、積込作業終了時において入力装置３１により生成された操作信号に基づいて、ダンプトラック２の積込動作の終了時点Ｔｅ１を規定する。なお、処理装置１２は、ダンプトラック２が積込位置ＬＰに存在する状態で、入力装置３１により操作信号が生成された時点を、終了時点Ｔｅ１として規定してもよい。すなわち、終了時点Ｔｅ１は、処理装置１２によって規定される積込位置ＬＰと、位置検出装置２９によって検出されるダンプトラック２のＧＰＳ位置とが一致した状態で、入力装置３１が操作されて操作信号が生成された時点（操作信号が処理装置１２に入力された時点）であってもよい。 In the present embodiment, the processing device 12 defines the end time Te1 of the loading operation of the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading operation. Note that the processing device 12 may define the end point Te1 when the operation signal is generated by the input device 31 in a state where the dump truck 2 exists at the loading position LP. That is, when the loading position LP defined by the processing device 12 and the GPS position of the dump truck 2 detected by the position detection device 29 coincide with each other, the input device 31 is operated and the operation time signal Te1 is reached. May be the point in time when the operation signal is input to the processing device 12.
　本実施形態において、入力装置３１により生成される操作信号は、ダンプトラック２に対する積込位置ＬＰからの出発の指令信号を含む。入力装置３１により生成された操作信号が通信システム９を介してダンプトラック２の処理装置２０に入力されると、ダンプトラック２は、積込位置ＬＰから排土場ＤＰＡに向かって出発する。なお、入力装置３１からの操作信号を受信した管理装置１０の処理装置１２が、通信システム９を介してダンプトラック２に積込位置ＬＰからの出発を指令してもよい。 In the present embodiment, the operation signal generated by the input device 31 includes a command signal for departure from the loading position LP for the dump truck 2. When the operation signal generated by the input device 31 is input to the processing device 20 of the dump truck 2 via the communication system 9, the dump truck 2 departs from the loading position LP toward the dumping site DPA. The processing device 12 of the management device 10 that has received the operation signal from the input device 31 may instruct the dump truck 2 to start from the loading position LP via the communication system 9.
　なお、処理装置１２は、位置検出装置２９から出力されたダンプトラック２の位置情報に基づいて、終了時点Ｔｅ１を規定してもよい。積込動作が終了してダンプトラック２が走行を開始すると、ダンプトラック２の位置が変化するため、処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に関する情報に基づいて、ダンプトラック２が積込位置ＬＰから出発したか否かを判定可能である。処理装置１２は、位置検出装置２９の検出結果に基づいて、ダンプトラック２が積込位置ＬＰからの移動を開始したか否かを判定し、ダンプトラック２が積込位置ＬＰからの移動が開始された時点を、ダンプトラック２の積込動作の終了時点Ｔｅ１に規定してもよい。 The processing device 12 may define the end time Te1 based on the position information of the dump truck 2 output from the position detection device 29. When the loading operation is completed and the dump truck 2 starts to travel, the position of the dump truck 2 changes. Therefore, the processing device 12 is based on the information about the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not the dump truck 2 has departed from the loading position LP. The processing device 12 determines whether or not the dump truck 2 has started to move from the loading position LP based on the detection result of the position detecting device 29, and the dump truck 2 has started to move from the loading position LP. The point of time when the dump truck 2 is loaded may be defined as the end point Te1 of the loading operation of the dump truck 2.
　積込動作終了後、ダンプトラック２は、積荷走行動作を開始する（ステップＳＡ３）。本実施形態において、処理装置１２は、積込作業終了時において入力装置３１により生成された操作信号に基づいて、ダンプトラック２の積荷走行動作の開始時点Ｔｓ２を規定する。すなわち、本実施形態において、積荷走行動作の開始時点Ｔｓ２は、入力装置３１が操作されて操作信号が生成された時点（操作信号が処理装置１２に入力された時点）であり、積込動作の終了時点Ｔｅ１と同一である。なお、処理装置１２は、位置検出装置２９の検出結果に基づいて、ダンプトラック２が積込位置ＬＰからの移動を開始したか否かを判定し、ダンプトラック２が積込位置ＬＰからの移動を開始した時点を、ダンプトラック２の積荷走行動作の開始時点Ｔｓ２に規定してもよい。なお、処理装置１２は、積込作業終了時において入力装置３１により操作信号が生成された時点を終了時点Ｔｅ１に規定し、位置検出装置２９の検出結果に基づいてダンプトラック２が積込位置ＬＰからの移動を開始したと判断した時点を開始時点Ｔｓ２に規定してもよい。 After completion of the loading operation, the dump truck 2 starts a loading operation (Step SA3). In the present embodiment, the processing device 12 defines the start time Ts2 of the load traveling operation of the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading operation. In other words, in the present embodiment, the start time Ts2 of the load traveling operation is the time when the input device 31 is operated and the operation signal is generated (the time when the operation signal is input to the processing device 12). It is the same as the end time Te1. The processing device 12 determines whether or not the dump truck 2 has started moving from the loading position LP based on the detection result of the position detecting device 29, and the dump truck 2 has moved from the loading position LP. May be defined as the start time Ts2 of the load traveling operation of the dump truck 2. The processing device 12 defines the time point when the operation signal is generated by the input device 31 at the end of the loading operation as the end time Te1, and the dump truck 2 is loaded at the loading position LP based on the detection result of the position detection device 29. The time point at which it is determined that the movement from is started may be defined as the start time point Ts2.
　ダンプトラック２は、積荷状態で、処理装置１２により生成された走行経路ＣＳに従って走行し、排土場ＤＰＡの入口ＧＤに到着する。排土場ＤＰＡの入口ＧＤに到着したダンプトラック２は、その入口ＧＤから排土場ＤＰＡに進入し、排土位置ＤＰに向かって走行し、排土位置ＤＰに到着する（ステップＳＡ４）。本実施形態において、処理装置１２は、ダンプトラック２が排土位置ＤＰに配置された時点を、ダンプトラック２の積荷走行動作の終了時点Ｔｅ２に規定する。上述のように、ダンプトラック２は、処理装置１２により生成された走行経路ＣＳに従って走行し、走行経路ＣＳは排土位置ＤＰを含む。すなわち、排土位置ＤＰは、ＧＰＳ座標系において処理装置１２によって規定され、処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に関する情報に基づいて、ダンプトラック２が排土位置ＤＰに配置されたか否かを判定可能である。処理装置１２は、処理装置１２が生成した走行経路ＣＳ（排土位置ＤＰ）と、位置検出装置２９の検出結果とに基づいて、ダンプトラック２が排土位置ＤＰに配置されたか否かを判定し、ダンプトラック２が排土位置ＤＰに配置された時点を、ダンプトラック２の積荷走行動作の終了時点Ｔｅ２に規定する。 The dump truck 2 travels according to the travel route CS generated by the processing device 12 in the loaded state, and arrives at the entrance GD of the dumping site DPA. The dump truck 2 that has arrived at the entrance GD of the earth removal site DPA enters the earth removal site DPA from the entrance GD, travels toward the earth removal position DP, and arrives at the earth removal position DP (step SA4). In the present embodiment, the processing device 12 defines the time point at which the dump truck 2 is disposed at the earthing position DP as the end time Te2 of the load traveling operation of the dump truck 2. As described above, the dump truck 2 travels according to the travel route CS generated by the processing device 12, and the travel route CS includes the soil removal position DP. That is, the earth removal position DP is defined by the processing device 12 in the GPS coordinate system, and the processing device 12 is configured to remove the dump truck 2 based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not it is arranged at the position DP. The processing device 12 determines whether or not the dump truck 2 is disposed at the soil discharging position DP based on the travel route CS (the soil discharging position DP) generated by the processing device 12 and the detection result of the position detecting device 29. Then, the point in time when the dump truck 2 is arranged at the soil discharging position DP is defined as the end point Te2 of the load traveling operation of the dump truck 2.
　なお、積込場ＬＰＡから排土場ＤＰＡまでの搬送路ＨＬにおいて、その搬送路ＨＬに交差点が存在する場合がある。その場合、処理装置１２は、ダンプトラック２の積荷走行動作を、積込場ＬＰＡから搬送路ＨＬの交差点までの第１の積荷走行動作と、搬送路ＨＬの交差点から排土場ＤＰＡまでの第２の積荷走行動作とに分け、ダンプトラック２の第１の積荷走行動作の開始時点及び終了時点と、第２の積荷走行動作の開始時点及び終了時点とを規定してもよい。第１の積荷走行動作の終了時点及び第２の積荷走行動作の開始時点の一方又は両方は、ダンプトラック２が搬送路ＨＬの交差点を通過した時点を含み、ダンプトラック２のＧＰＳ位置に基づいて規定することができる。また、搬送路ＨＬの交差点から第１の排土場ＤＰＡに通じる搬送路ＨＬと第２の排土場ＤＰＡに通じる搬送路ＨＬとに分岐している場合、処理装置１２は、ダンプトラック２の積荷走行動作を、搬送路ＨＬの交差点から第１の排土場ＤＰＡまでの第３の積荷走行動作と、搬送路ＨＬの交差点から第２の排土場ＤＰＡまでの第４の積込走行動作とに分け、ダンプトラック２の第３の積荷走行動作の開始時点及び終了時点と、第４の積荷走行動作の開始時点及び終了時点とを規定してもよい。第３の積荷走行動作の開始時点及び第４の積荷走行動作の開始時点の一方又は両方は、ダンプトラック２が搬送路ＨＬの交差点を通過した時点を含み、ダンプトラック２のＧＰＳ位置に基づいて規定することができる。 In addition, in the conveyance path HL from the loading site LPA to the earth discharge site DPA, there may be an intersection in the conveyance path HL. In that case, the processing device 12 performs the load traveling operation of the dump truck 2 in the first load traveling operation from the loading site LPA to the intersection of the conveyance path HL and the first operation from the intersection of the conveyance path HL to the dumping site DPA. The start time and end time of the first load travel operation of the dump truck 2 and the start time and end time of the second load travel operation may be defined separately. One or both of the end time of the first load travel operation and the start time of the second load travel operation include the time when the dump truck 2 passes the intersection of the conveyance path HL, and is based on the GPS position of the dump truck 2 Can be prescribed. In addition, when branching from the intersection of the conveyance path HL to the conveyance path HL leading to the first earth discharging site DPA and the conveyance path HL leading to the second earth discharging site DPA, the processing device 12 The load travel operation includes the third load travel operation from the intersection of the conveyance path HL to the first soil discharge field DPA, and the fourth load travel operation from the intersection of the transport path HL to the second soil discharge field DPA. The start time and end time of the third load traveling operation of the dump truck 2 and the start time and end time of the fourth load traveling operation may be defined. One or both of the start time point of the third load travel operation and the start time point of the fourth load travel operation include a time point when the dump truck 2 passes the intersection of the conveyance path HL, and is based on the GPS position of the dump truck 2 Can be prescribed.
　積荷走行動作終了後、ダンプトラック２は、排出動作を開始する（ステップＳＡ５）。処理装置１２は、排土位置ＤＰに配置されたダンプトラック２に対して排出作業の指令信号を出力（送信）する。指令信号を受信したダンプトラック２の処理装置２０は、ベッセル２２を上昇させる。これにより、ベッセル２２から積荷が排出される（ステップＳＡ６）。ベッセル２２から積荷が排出されて排出作業が終了すると、ダンプトラック２は、排土位置ＤＰから積込場ＬＰＡに向かって出発する。 After completion of the cargo traveling operation, the dump truck 2 starts the discharging operation (step SA5). The processing device 12 outputs (transmits) a discharge operation command signal to the dump truck 2 disposed at the soil discharge position DP. The processing device 20 of the dump truck 2 that has received the command signal raises the vessel 22. Thereby, the load is discharged from the vessel 22 (step SA6). When the load is discharged from the vessel 22 and the discharge operation is completed, the dump truck 2 starts from the soil discharge position DP toward the loading site LPA.
　本実施形態において、処理装置１２は、ダンプトラック２が排土位置ＤＰに配置された時点を、ダンプトラック２の排出動作の開始時点Ｔｓ３に規定する。すなわち、本実施形態において、排出動作の開始時点Ｔｓ３は、積荷走行動作の終了時点Ｔｅ２と同一であり、終了時点Ｔｅ２が開始時点Ｔｓ３に規定される。また、排出作業に要する時間は数秒程度と短いため、本実施形態において、処理装置１２は、排出動作の開始時点Ｔｓ３を、排出動作の終了時点Ｔｅ３と規定する。すなわち、本実施形態において、排出動作の終了時点Ｔｅ３は、排出動作の開始時点Ｔｓ３と同一である。なお、処理装置１２は、排出作業の指令信号の出力によりベッセル２２の上昇が開始された時点を排出動作の開始時点Ｔｓ３に規定してもよい。 In the present embodiment, the processing device 12 defines the time point when the dump truck 2 is disposed at the soil discharge position DP as the start time Ts3 of the dump truck 2 discharge operation. That is, in the present embodiment, the discharge operation start time Ts3 is the same as the load travel operation end time Te2, and the end time Te2 is defined as the start time Ts3. Further, since the time required for the discharge operation is as short as several seconds, in the present embodiment, the processing device 12 defines the discharge operation start time Ts3 as the discharge operation end time Te3. That is, in the present embodiment, the end time Te3 of the discharge operation is the same as the start time Ts3 of the discharge operation. In addition, the processing apparatus 12 may prescribe | regulate the time when the raise of the vessel 22 was started by the output of the command signal of discharge operation | work as discharge operation start time Ts3.
　なお、処理装置１２は、終了時点Ｔｅ２と開始時点Ｔｓ３とを異なるように規定してもよい。例えば、処理装置１２は、ダンプトラック２が排土位置ＤＰに配置された時点を終了時点Ｔｅ２に規定し、ベッセル２２の上昇が開始した時点を開始時点Ｔｓ３に規定してもよい。なお、処理装置１２は、開始時点Ｔｓ３と終了時点Ｔｅ３とを異なるように規定してもよい。例えば、処理装置１２は、排出作業の指令信号を出力した時点、又はベッセル２２の上昇が開始した時点を開始時点Ｔｓ３に規定し、ベッセル２２の積荷の重量を検出可能な圧力センサ２６の検出結果に基づいて、積荷の排出が完了したと判断した時点を終了時点Ｔｅ３に規定してもよい。 Note that the processing device 12 may define the end time Te2 and the start time Ts3 to be different. For example, the processing device 12 may define the end time Te2 when the dump truck 2 is disposed at the earthing position DP and define the start time Ts3 when the vessel 22 starts to rise. Note that the processing device 12 may define the start time Ts3 and the end time Te3 to be different. For example, the processing device 12 defines the start time Ts3 when the discharge operation command signal is output or when the rise of the vessel 22 starts, and the detection result of the pressure sensor 26 that can detect the weight of the load on the vessel 22. Based on the above, the end time Te3 may be defined as the time when it is determined that the discharge of the load has been completed.
　なお、処理装置１２は、位置検出装置２９から出力されたダンプトラック２の位置情報に基づいて、ダンプトラック２の排出動作の終了時点Ｔｅ３を規定してもよい。排出作業が終了してダンプトラック２が走行を開始すると、ダンプトラック２の位置が変化するため、処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に関する情報に基づいて、ダンプトラック２が排土位置ＤＰから出発したか否かを判定可能である。処理装置１２は、位置検出装置２９の検出結果に基づいて、ダンプトラック２が排土位置ＤＰから移動を開始したか否かを判定し、ダンプトラック２が排土位置ＤＰからの移動を開始された時点を、ダンプトラック２の排出動作の終了時点Ｔｅ３に規定してもよい。 The processing device 12 may define the end time Te3 of the dump truck 2 discharge operation based on the position information of the dump truck 2 output from the position detection device 29. When the dump truck 2 starts running after the discharge operation is completed, the position of the dump truck 2 changes. Therefore, the processing device 12 is based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not the dump truck 2 has departed from the soil discharge position DP. The processing device 12 determines whether or not the dump truck 2 has started to move from the soil discharge position DP based on the detection result of the position detection device 29, and the dump truck 2 has started to move from the soil discharge position DP. May be defined as the end time Te3 of the discharge operation of the dump truck 2.
　排出動作終了後、ダンプトラック２は、空荷走行動作を開始する（ステップＳＡ７）。本実施形態においては、排出作業に要する時間が短いため、排出動作の開始時点Ｔｓ３（又は終了時点Ｔｅ３）が空荷走行動作の開始時点Ｔｓ４に規定される。すなわち、本実施形態において、開始時点Ｔｓ３と終了時点Ｔｅ３と開始時点Ｔｓ４とは同一である。なお、開始時点Ｔｓ３（又は終了時点Ｔｅ３）と開始時点Ｔｓ４とは異なってもよい。 After completion of the discharging operation, the dump truck 2 starts an empty traveling operation (Step SA7). In the present embodiment, since the time required for the discharge operation is short, the start time Ts3 (or the end time Te3) of the discharge operation is defined as the start time Ts4 of the empty travel operation. That is, in the present embodiment, the start time Ts3, the end time Te3, and the start time Ts4 are the same. The start time Ts3 (or the end time Te3) and the start time Ts4 may be different.
　なお、処理装置１２は、位置検出装置２９から出力されたダンプトラック２の位置情報に基づいて、ダンプトラック２の空荷走行動作の開始時点Ｔｓ４を規定してもよい。処理装置１２は、位置検出装置２９の検出結果に基づいて、ダンプトラック２が排土位置ＤＰからの移動を開始したか否かを判定し、ダンプトラック２が排土位置ＤＰからの移動を開始した時点を、ダンプトラック２の空荷走行動作の開始時点Ｔｓ４に規定してもよい。 Note that the processing device 12 may define the start time Ts4 of the empty traveling operation of the dump truck 2 based on the position information of the dump truck 2 output from the position detection device 29. The processing device 12 determines whether or not the dump truck 2 has started moving from the soil discharging position DP based on the detection result of the position detecting device 29, and the dump truck 2 starts moving from the soil discharging position DP. This time may be defined as the start time Ts4 of the unloading operation of the dump truck 2.
　ダンプトラック２は、空荷状態で、処理装置１２により生成された走行経路ＣＳに従って走行し、積込場ＬＰＡの入口ＧＬに到着する。これにより、ダンプトラック２は、搬送路ＨＬにおける空荷走行動作を終了する（ステップＳＡ８）。本実施形態において、処理装置１２は、ダンプトラック２が積込場ＬＰＡの入口ＧＬに到着した時点を、ダンプトラック２の空荷走行動作の終了時点Ｔｅ４に規定する。上述のように、ダンプトラック２は、処理装置１２により生成された走行経路ＣＳに従って走行し、走行経路ＣＳは入口ＧＬの位置を含む。すなわち、入口ＧＬの位置は、ＧＰＳ座標系において処理装置１２によって規定され、処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に関する情報に基づいて、ダンプトラック２が入口ＧＬに到着したか否かを判定可能である。処理装置１２は、処理装置１２が生成した走行経路ＣＳ（入口ＧＬの位置）と、位置検出装置２９の検出結果とに基づいて、ダンプトラック２が入口ＧＬに到着したか否かを判定し、ダンプトラック２が入口ＧＬに到着した時点を、ダンプトラック２の空荷走行動作の終了時点Ｔｅ４に規定する。 The dump truck 2 travels in an empty state according to the travel route CS generated by the processing device 12 and arrives at the entrance GL of the loading site LPA. As a result, the dump truck 2 ends the empty travel operation on the transport path HL (step SA8). In the present embodiment, the processing device 12 defines the point in time when the dump truck 2 arrives at the entrance GL of the loading site LPA as the end point Te4 of the unloading operation of the dump truck 2. As described above, the dump truck 2 travels according to the travel route CS generated by the processing device 12, and the travel route CS includes the position of the entrance GL. That is, the position of the entrance GL is defined by the processing device 12 in the GPS coordinate system, and the processing device 12 determines that the dump truck 2 is connected to the entrance GL based on the information on the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not it has arrived. The processing device 12 determines whether or not the dump truck 2 has arrived at the entrance GL based on the travel route CS (position of the entrance GL) generated by the processing device 12 and the detection result of the position detection device 29. The point in time when the dump truck 2 arrives at the entrance GL is defined as the end point Te4 of the empty traveling operation of the dump truck 2.
　なお、排土場ＤＰＡから積込場ＬＰＡまでの搬送路ＨＬにおいて、その搬送路ＨＬに交差点が存在する場合がある。その場合、処理装置１２は、ダンプトラック２の空荷走行動作を、排土場ＤＰＡから搬送路ＨＬの交差点までの第１の空荷走行動作と、搬送路ＨＬの交差点から積込場ＬＰＡまでの第２の空荷走行動作とに分け、ダンプトラック２の第１の空荷走行動作の開始時点及び終了時点と、第２の空荷走行動作の開始時点及び終了時点とを規定してもよい。第１の空荷走行動作の終了時点及び第２の空荷走行動作の開始時点の一方又は両方は、ダンプトラック２が搬送路ＨＬの交差点を通過した時点を含み、ダンプトラック２のＧＰＳ位置に基づいて規定することができる。また、搬送路ＨＬの交差点から第１の積込場ＬＰＡに通じる搬送路ＨＬと第２の積込場ＬＰＡに通じる搬送路ＨＬとに分岐している場合、処理装置１２は、ダンプトラック２の空荷走行動作を、搬送路ＨＬの交差点から第１の積込場ＬＰＡまでの第３の空荷走行動作と、搬送路ＨＬの交差点から第２の積込場ＬＰＡまでの第４の空荷走行動作とに分け、ダンプトラック２の第３の空荷走行動作の開始時点及び終了時点と、第４の空荷走行動作の開始時点及び終了時点とを規定してもよい。第３の空荷走行動作の開始時点及び第４の空荷走行動作の開始時点の一方又は両方は、ダンプトラック２が搬送路ＨＬの交差点を通過した時点を含み、ダンプトラック２のＧＰＳ位置に基づいて規定することができる。 In addition, in the conveyance path HL from the dumping site DPA to the loading field LPA, there may be an intersection in the conveyance path HL. In that case, the processing device 12 performs the empty traveling operation of the dump truck 2 from the earth discharging site DPA to the intersection of the conveyance path HL and from the intersection of the conveyance path HL to the loading field LPA. The start time and end time of the first unloading operation of the dump truck 2 and the start time and end time of the second unloading operation may be defined. Good. One or both of the end time of the first unloading operation and the start time of the second unloading operation include the time when the dump truck 2 passes the intersection of the transport path HL, and the GPS position of the dump truck 2 is Can be defined based on. Further, when branching from the intersection of the conveyance path HL to the conveyance path HL leading to the first loading field LPA and the conveyance path HL leading to the second loading field LPA, the processing device 12 The empty load travel operation is performed by the third empty load travel operation from the intersection of the transport path HL to the first loading field LPA, and the fourth empty load from the intersection of the transport path HL to the second loading field LPA. The start time and end time of the third empty load travel operation of the dump truck 2 and the start time and end time of the fourth empty load travel operation may be defined separately from the travel operation. One or both of the start time point of the third unloading traveling operation and the start time point of the fourth unloading traveling operation include the time point when the dump truck 2 passes the intersection of the conveyance path HL, and the GPS position of the dump truck 2 is Can be defined based on.
　本実施形態において、積込場ＬＰＡに配置可能（進入可能）なダンプトラック２の数は制限されている。そのため、積込場ＬＰＡに所定数のダンプトラック２が既に存在する場合、積込場ＬＰＡの入口ＧＬに到着したダンプトラック２は、積込場ＬＰＡのダンプトラック２の少なくとも１台が積込場ＬＰＡの外に移動するまで、その入口ＧＬで待機（停止）する。そして、積込場ＬＰＡのダンプトラック２の少なくとも１台が積込場ＬＰＡの外に移動して、入口ＧＬに待機していたダンプトラック２の待機状態が解除されてから、その入口ＧＬのダンプトラック２が積込場ＬＰＡの積込位置ＬＰまで移動する。なお、積込場ＬＰＡに所定数のダンプトラック２が既に存在する場合、積込場ＬＰＡの入口ＧＬに到着したダンプトラック２の待機状態が解除されるタイミングは、積込場ＬＰＡのダンプトラック２の少なくとも１台が積込場ＬＰＡの外に移動した時点でもよいし、積込位置ＬＰにおいて積荷の積込作業が終了したダンプトラック２がその積込位置ＬＰからの移動を開始した時点でもよい。図９は、積込場ＬＰＡの一例を示す模式図である。積込場ＬＰＡの積込位置ＬＰに位置するダンプトラック２に対して積込機械３による積込作業が行われる。図９は、積込場ＬＰＡの入口ＧＬにおいてダンプトラック２Ｃが待機している状態を示す。入口ＧＬにダンプトラック２Ｃが到着してダンプトラック２Ｃの走行が停止されることにより、入口ＧＬにおけるダンプトラック２Ｃの待機動作が開始される。積込場ＬＰＡの入口ＧＬにおいて待機状態のダンプトラック２Ｃの後ろに、次のダンプトラック２が到着する可能性がある。ダンプトラック２Ｃが入口ＧＬで待機している場合、ダンプトラック２Ｃの後ろに到着したダンプトラック２は、ダンプトラック２Ｃから所定距離（５ｍから１０ｍ程度）離れた後ろで走行を停止して待機する。 In this embodiment, the number of dump trucks 2 that can be placed (accessible) at the loading site LPA is limited. Therefore, when a predetermined number of dump trucks 2 already exist in the loading site LPA, at least one dump truck 2 of the loading site LPA has arrived at the dump truck 2 that has arrived at the entrance GL of the loading site LPA. It waits (stops) at the entrance GL until it moves out of the LPA. Then, after at least one of the dump trucks 2 at the loading site LPA moves out of the loading site LPA and the standby state of the dump truck 2 waiting at the entrance GL is released, the dump at the entrance GL is released. The truck 2 moves to the loading position LP of the loading site LPA. When a predetermined number of dump trucks 2 already exist in the loading site LPA, the timing of releasing the standby state of the dump truck 2 that has arrived at the entrance GL of the loading site LPA is the dump truck 2 of the loading site LPA. May be the time when at least one of the trucks has moved out of the loading site LPA, or when the dump truck 2 that has finished loading the cargo at the loading position LP has started moving from the loading position LP. . FIG. 9 is a schematic diagram showing an example of the loading area LPA. A loading operation by the loading machine 3 is performed on the dump truck 2 located at the loading position LP of the loading field LPA. FIG. 9 shows a state where the dump truck 2C is waiting at the entrance GL of the loading site LPA. When the dump truck 2C arrives at the entrance GL and the running of the dump truck 2C is stopped, the standby operation of the dump truck 2C at the entrance GL is started. There is a possibility that the next dump truck 2 will arrive behind the dump truck 2C in the standby state at the entrance GL of the loading site LPA. When the dump truck 2C is waiting at the entrance GL, the dump truck 2 that has arrived behind the dump truck 2C stops traveling and waits behind a predetermined distance (about 5 to 10 m) from the dump truck 2C.
　なお、ダンプトラック２は、前のダンプトラック２Ｃが積込場ＬＰＡに進入するまで、あるいは前のダンプトラック２Ｃが積込場ＬＰＡに進入し積込位置ＬＰにおいて積込作業を開始されてから所定時間経過するまで入口ＧＬにおいて待機する場合がある。また、採掘状況などに応じて積込位置ＬＰは積込場ＬＰＡ内で変化する可能性があり、変化した積込位置ＬＰに対応した走行経路ＣＳが作成されるまで、積込場ＬＰＡの入口ＧＬにおいてダンプトラック２が待機する場合がある。 The dump truck 2 is predetermined until the previous dump truck 2C enters the loading site LPA or after the previous dump truck 2C enters the loading site LPA and starts the loading operation at the loading position LP. There is a case of waiting at the entrance GL until the time elapses. Further, the loading position LP may change in the loading site LPA depending on the mining situation or the like, and the entrance of the loading site LPA until the travel route CS corresponding to the changed loading position LP is created. There are cases where the dump truck 2 stands by in the GL.
　ダンプトラック２ＣのＧＰＳ位置は、そのダンプトラック２Ｃに搭載された位置検出装置２９によって検出され、ダンプトラック２のＧＰＳ位置は、そのダンプトラック２に搭載された位置検出装置２９によって検出される。処理装置１２には、ダンプトラック２Ｃの位置検出装置２９及びダンプトラック２の位置検出装置２９それぞれの検出結果が、通信システム９を介して出力される。処理装置１２は、ダンプトラック２Ｃの位置検出装置２９の検出結果に基づいて、ダンプトラック２Ｃが入口ＧＬに到着したか否かを判断することができる。また、処理装置１２は、ダンプトラック２Ｃの位置検出装置２９の検出結果及びダンプトラック２の位置検出装置２９の検出結果に基づいて、入口ＧＬに到着して待機状態のダンプトラック２Ｃの後ろにダンプトラック２が到着したか否かを判断することができる。本実施形態において、処理装置１２は、入口ＧＬにおいて待機状態のダンプトラック２Ｃの後ろにダンプトラック２が到着したときに、ダンプトラック２が入口ＧＬに到着したと判定する。 The GPS position of the dump truck 2C is detected by the position detection device 29 mounted on the dump truck 2C, and the GPS position of the dump truck 2 is detected by the position detection device 29 mounted on the dump truck 2. The detection results of the position detection device 29 of the dump truck 2C and the position detection device 29 of the dump truck 2 are output to the processing device 12 via the communication system 9. The processing device 12 can determine whether the dump truck 2C has arrived at the entrance GL based on the detection result of the position detection device 29 of the dump truck 2C. The processing device 12 also dumps behind the dump truck 2C that has arrived at the entrance GL and is in a standby state based on the detection result of the position detection device 29 of the dump truck 2C and the detection result of the position detection device 29 of the dump truck 2. It can be determined whether the truck 2 has arrived. In the present embodiment, the processing device 12 determines that the dump truck 2 has arrived at the entrance GL when the dump truck 2 has arrived behind the dump truck 2C in the standby state at the entrance GL.
　また、処理装置１２は、入口ＧＬにおいて待機状態のダンプトラック２Ｃの後ろに空荷状態のダンプトラック２が到着した時点を、ダンプトラック２が入口ＧＬに到着した到着時点に規定する。本実施形態において、処理装置１２は、入口ＧＬにおいて待機状態のダンプトラック２Ｃの後ろにダンプトラック２が到着した時点を、ダンプトラック２の空荷走行動作の終了時点Ｔｅ４に規定する。 Further, the processing device 12 defines the point in time when the dump truck 2 in the empty state arrives behind the dump truck 2C in the standby state at the entrance GL as the arrival point when the dump truck 2 arrives at the entrance GL. In the present embodiment, the processing device 12 defines a point in time when the dump truck 2 arrives behind the dump truck 2C in the standby state at the entrance GL as an end point Te4 of the empty truck traveling operation of the dump truck 2.
　入口ＧＬにおいて待機状態のダンプトラック２Ｃの後ろにダンプトラック２が到着してダンプトラック２の走行が停止されることにより、入口ＧＬにおけるダンプトラック２の待機動作が開始される（ステップＳＡ９）。処理装置１２は、入口ＧＬにおいて待機状態のダンプトラック２Ｃの後ろにダンプトラック２が到着した時点を、ダンプトラック２の入口待機動作の開始時点Ｔｓ５に規定する。すなわち、本実施形態において、空荷走行動作の終了時点Ｔｅ４は、入口待機動作の開始時点Ｔｓ５と同一である。 When the dump truck 2 arrives behind the dump truck 2C in the standby state at the entrance GL and the running of the dump truck 2 is stopped, the standby operation of the dump truck 2 at the entrance GL is started (step SA9). The processing device 12 defines the time point when the dump truck 2 arrives behind the dump truck 2C in the standby state at the entrance GL as the start time Ts5 of the entrance standby operation of the dump truck 2. That is, in the present embodiment, the end time Te4 of the unloading travel operation is the same as the start time Ts5 of the entrance standby operation.
　積込場ＬＰＡのダンプトラック２の少なくとも１台が積込場ＬＰＡの外に移動し、入口ＧＬに待機しているダンプトラック２が積込場ＬＰＡに進入可能な状態になった後、処理装置１２は、入口ＧＬに待機しているダンプトラック２に対して、走行開始の指令信号を出力（送信）する。これにより、ダンプトラック２の待機状態が解除され、入口待機動作が終了する（ステップＳＡ１０）。待機状態が解除されたダンプトラック２は、走行を開始し、走行経路ＣＳに従って、入口ＧＬから積込場ＬＰＡに進入する。 After at least one of the dump trucks 2 at the loading site LPA has moved out of the loading site LPA and the dump truck 2 waiting at the entrance GL is ready to enter the loading site LPA, the processing device 12 outputs (transmits) a command signal to start traveling to the dump truck 2 waiting at the entrance GL. As a result, the standby state of the dump truck 2 is released, and the entrance standby operation ends (step SA10). The dump truck 2 released from the standby state starts traveling and enters the loading site LPA from the entrance GL according to the traveling route CS.
　処理装置１２は、入口ＧＬで待機状態のダンプトラック２が走行を開始（再発進）した時点を、ダンプトラック２の入口待機動作の終了時点Ｔｅ５に規定する。処理装置１２は、位置検出装置２９から出力されたダンプトラック２の位置情報に基づいて、終了時点Ｔｅ５を規定する。待機状態が解除されてダンプトラック２が走行を開始すると、ダンプトラック２の位置が変化するため、処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に関する情報に基づいて、ダンプトラック２が入口ＧＬの待機位置から出発したか否かを判定可能である。処理装置１２は、位置検出装置２９の検出結果に基づいて、ダンプトラック２が入口ＧＬの待機位置からの移動を開始したか否かを判定し、ダンプトラック２が入口ＧＬの待機位置から移動を開始した時点を、ダンプトラック２の入口待機動作の終了時点Ｔｅ５に規定する。なお、処理装置１２は、入口ＧＬにおけるダンプトラック２の待機状態を解除して走行開始の指令信号を出力した時点を、終了時点Ｔｅ５に規定してもよい。 The processing device 12 defines the point in time Te5 of the entrance standby operation of the dump truck 2 when the dump truck 2 in a standby state at the entrance GL starts to travel (restarts). The processing device 12 defines the end time Te5 based on the position information of the dump truck 2 output from the position detection device 29. When the dump truck 2 starts running after the standby state is released, the position of the dump truck 2 changes. Therefore, the processing device 12 is based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29. It can be determined whether or not the dump truck 2 has departed from the standby position of the entrance GL. The processing device 12 determines whether or not the dump truck 2 has started moving from the standby position of the entrance GL based on the detection result of the position detection device 29, and the dump truck 2 moves from the standby position of the entrance GL. The start time is defined as the end time Te5 of the entrance standby operation of the dump truck 2. Note that the processing device 12 may define the end time Te5 as a time point when the standby state of the dump truck 2 at the entrance GL is canceled and a command signal for starting travel is output.
　入口待機動作終了後、ダンプトラック２は、スポット動作を開始する（ステップＳＡ１１）。スポット動作とは、入口ＧＬの待機位置における待機状態が解除されてから積込場ＬＰＡの積込位置ＬＰまで移動する動作をいう。本実施形態において、処理装置１２は、位置検出装置２９から出力されたダンプトラック２の位置情報に基づいて、ダンプトラック２が入口ＧＬの待機位置からの移動を開始した時点を、スポット動作の開始時点Ｔｓ６に規定する。すなわち、本実施形態において、入口待機動作の終了時点Ｔｅ５は、スポット動作の開始時点Ｔｓ６と同一である。なお、処理装置１２は、入口ＧＬにおけるダンプトラック２の待機状態を解除して走行開始の指令信号を出力した時点を、開始時点Ｔｓ６に規定してもよい。なお、本実施形態において、積込場ＬＰＡに所定数のダンプトラック２が既に存在する場合、積込場ＬＰＡの入口ＧＬに到着したダンプトラック２が待機状態となるが、積込場ＬＰＡに所定数のダンプトラック２が存在しない場合（積込場ＬＰＡがすいている場合）、積込場ＬＰＡの入口ＧＬに到着したダンプトラック２は、入口ＧＬで停止（待機）することなく、積込場ＬＰＡに進入し、積込位置ＬＰまで走行してもよい。この場合、ダンプトラック２が積込場ＬＰＡの入口ＧＬを通過した時点が、ダンプトラック２の空荷走行動作の終了時点Ｔｅ４に規定されてもよいし、スポット動作の開始時点Ｔｓ６に規定されてもよい。 After completion of the entrance standby operation, the dump truck 2 starts the spot operation (step SA11). The spot operation refers to an operation of moving from the standby state at the standby position of the entrance GL to the loading position LP of the loading site LPA. In the present embodiment, the processing device 12 starts the spot operation based on the time when the dump truck 2 starts moving from the standby position of the entrance GL based on the position information of the dump truck 2 output from the position detection device 29. It is defined at time Ts6. That is, in the present embodiment, the end time Te5 of the entrance standby operation is the same as the start time Ts6 of the spot operation. In addition, the processing apparatus 12 may prescribe | regulate the time of canceling | releasing the standby state of the dump truck 2 in the entrance GL, and outputting the driving start command signal to start time Ts6. In the present embodiment, when a predetermined number of dump trucks 2 already exist in the loading site LPA, the dump truck 2 that has arrived at the entrance GL of the loading site LPA enters a standby state, but the predetermined amount is stored in the loading site LPA. When the number of dump trucks 2 does not exist (when the loading site LPA is empty), the dump truck 2 that has arrived at the entrance GL of the loading site LPA does not stop (wait) at the entrance GL, and You may enter LPA and travel to loading position LP. In this case, the point in time when the dump truck 2 passes the entrance GL of the loading site LPA may be defined as the end time Te4 of the unloading operation of the dump truck 2 or the spot operation start time Ts6. Also good.
　ダンプトラック２は、処理装置１２により生成された走行経路ＣＳに従って走行し、入口ＧＬから積込位置ＬＰまで移動する。これにより、スポット動作が終了する（ステップＳ１２）。処理装置１２は、ダンプトラック２が積込位置ＬＰに到着した時点を、スポット動作の終了時点Ｔｅ６に規定する。処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に関する情報に基づいて、ダンプトラック２が積込位置ＬＰに配置されたか否かを判定し、ダンプトラック２が積込位置ＬＰに配置された時点を、ダンプトラック２のスポット動作の終了時点Ｔｅ６に規定する。 The dump truck 2 travels according to the travel route CS generated by the processing device 12, and moves from the entrance GL to the loading position LP. As a result, the spot operation ends (step S12). The processing device 12 defines the time when the dump truck 2 arrives at the loading position LP as the spot operation end time Te6. The processing device 12 determines whether or not the dump truck 2 is disposed at the loading position LP based on the information regarding the GPS position of the dump truck 2 output from the position detection device 29, and the dump truck 2 is loaded at the loading position LP. The point in time when it is placed in the LP is defined as the end point Te6 of the spot operation of the dump truck 2.
　スポット動作が、第１のスポット動作と第２のスポット動作とに分けられてもよい。例えば、ダンプトラック２が積込位置ＬＰに進入する場合、ダンプトラック２の前部が積込位置ＬＰに向けられた状態でダンプトラック２が入口ＧＬから積込場ＬＰＡに前進して進入した後、そのダンプトラック２の後部が積込位置ＬＰに向けられるようにダンプトラック２のステアリング操作が行われ、その後、ダンプトラック２が後進しながら、積込位置ＬＰに進入する、所謂、スイッチバック動作が行われる可能性がある。その場合、ダンプトラック２は、後進を開始する前に、積込位置ＬＰから離れた積込場ＬＰＡの所定位置（スイッチバック位置）に待機する場合がある。その場合、処理装置１２は、入口ＧＬの待機位置における待機状態が解除されてからスイッチバック位置まで移動するダンプトラック２の動作を第１のスポット動作とし、スイッチバック位置から積込位置ＬＰＡまで移動するダンプトラック２の動作を第２のスポット動作としてもよい。処理装置１２は、ダンプトラック２の第１のスポット動作の開始時点及び終了時点と、第２のスポット動作の開始時点及び終了時点とを規定してもよい。 The spot operation may be divided into a first spot operation and a second spot operation. For example, when the dump truck 2 enters the loading position LP, after the dump truck 2 moves forward from the entrance GL to the loading site LPA with the front portion of the dump truck 2 directed to the loading position LP. The steering operation of the dump truck 2 is performed so that the rear part of the dump truck 2 is directed to the loading position LP, and then the so-called switchback operation in which the dump truck 2 enters the loading position LP while moving backward. May be performed. In this case, the dump truck 2 may wait at a predetermined position (switchback position) of the loading site LPA that is away from the loading position LP before starting reverse travel. In that case, the processing apparatus 12 sets the operation of the dump truck 2 that moves from the standby state at the standby position of the inlet GL to the switchback position as the first spot operation and moves from the switchback position to the loading position LPA. The operation of the dump truck 2 to be performed may be the second spot operation. The processing device 12 may define the start point and end point of the first spot operation of the dump truck 2 and the start point and end point of the second spot operation.
　本実施形態において、スポット動作の終了時点Ｔｅ６は、積込動作の開始時点Ｔｓ１と同一である。積込位置ＬＰに配置されたダンプトラック２に対して積込作業が行われる。 In this embodiment, the spot operation end point Te6 is the same as the loading operation start point Ts1. A loading operation is performed on the dump truck 2 disposed at the loading position LP.
　なお、処理装置１２は、ダンプトラック２が搬送路ＨＬにおいて走行を停止した場合、そのダンプトラック２の走行停止動作の開始時点Ｔｓ７及び終了時点Ｔｅ７を規定する。処理装置１２は、位置検出装置２９から出力されるダンプトラック２のＧＰＳ位置に基づいて、搬送路ＨＬにおける走行停止動作の開始時点Ｔｓ７及び終了時点Ｔｅ７を規定することができる。ダンプトラック２が走行を停止した場合、ダンプトラック２のＧＰＳ位置は変化せず、走行停止状態のダンプトラック２が走行を開始した場合、ダンプトラック２のＧＰＳ位置は変化するため、処理装置１２は、ダンプトラック２のＧＰＳ位置に基づいて、走行停止動作の開始時点Ｔｓ７及び終了時点Ｔｅ７を規定することができる。なお、処理装置１２は、ダンプトラック２の速度センサ２７の検出結果に基づいて、走行停止動作の開始時点Ｔｓ７及び終了時点Ｔｅ７を規定してもよい。 Note that when the dump truck 2 stops traveling on the transport path HL, the processing device 12 defines the start time Ts7 and the end time Te7 of the travel stop operation of the dump truck 2. Based on the GPS position of the dump truck 2 output from the position detection device 29, the processing device 12 can define the start time Ts7 and the end time Te7 of the travel stop operation on the conveyance path HL. When the dump truck 2 stops traveling, the GPS position of the dump truck 2 does not change. When the dump truck 2 in the traveling stopped state starts traveling, the GPS position of the dump truck 2 changes. Based on the GPS position of the dump truck 2, the start time Ts7 and the end time Te7 of the travel stop operation can be defined. Note that the processing device 12 may define the start time Ts7 and the end time Te7 of the travel stop operation based on the detection result of the speed sensor 27 of the dump truck 2.
　以上、１サイクルについて説明した。以下、同様のサイクル動作が繰り返される。また、鉱山においては、複数のダンプトラック２が稼働し、複数のダンプトラック２のそれぞれについて各動作の開始時点（Ｔｓ１～Ｔｓ７）と終了時点（Ｔｅ１～Ｔｅ７）とが規定される。複数のダンプトラック２のそれぞれは、識別子（ＩＤ）を有し、処理装置１２は、識別子に対応付けて、複数のダンプトラック２のそれぞれについて各動作の開始時点（Ｔｓ１～Ｔｓ７）及び終了時点（Ｔｅ１～Ｔｅ７）を規定する。 This completes the description of one cycle. Thereafter, the same cycle operation is repeated. In the mine, a plurality of dump trucks 2 are operated, and a start time (Ts1 to Ts7) and an end time (Te1 to Te7) of each operation are defined for each of the plurality of dump trucks 2. Each of the plurality of dump trucks 2 has an identifier (ID), and the processing device 12 associates the identifier with the identifier, and each operation of each of the plurality of dump trucks 2 starts (Ts1 to Ts7) and ends ( Te1 to Te7) are defined.
　処理装置１２は、複数のダンプトラック２のそれぞれについての各動作の開始時点（Ｔｓ１～Ｔｓ７）及び終了時点（Ｔｅ１～Ｔｅ７）に基づいて、各動作に要した時間を導出することができる。例えば、処理装置１２は、開始時点Ｔｓ５と終了時点Ｔｅ５とに基づいて、ダンプトラック２が入口ＧＬに到着した到着時点から入口ＧＬにおける待機状態が解除されるまでのダンプトラック２の入口待機時間を算出することができる。 The processing device 12 can derive the time required for each operation based on the start time (Ts1 to Ts7) and the end time (Te1 to Te7) of each operation for each of the plurality of dump trucks 2. For example, the processing device 12 calculates the entrance standby time of the dump truck 2 from the arrival time when the dump truck 2 arrives at the entrance GL until the standby state at the entrance GL is released based on the start time Ts5 and the end time Te5. Can be calculated.
＜積込動作の開始時点の規定の一例＞
　上述の実施形態においては、積込機械３の一側に積込位置ＬＰが定められ、その積込位置ＬＰに空荷状態のダンプトラック２が順次配置されることとし、空荷状態のダンプトラック２が積込位置ＬＰに配置された時点を積込動作の開始時点Ｔｓ１とした。積込場ＬＰＡにおいて、積込機械３の両側に積込位置ＬＰが定められ、一側の積込位置ＬＰに配置されたダンプトラック２に対する積込作業中に、他側の積込位置ＬＰにダンプトラック２が配置される可能性がある。積込機械３の両側に積込位置ＬＰが定められ、その両側の積込位置ＬＰに配置されたダンプトラック２のそれぞれに対して積荷の積込作業（両側積込作業）が行われる場合の積込動作の開始時点の規定の一例について説明する。 <Example of regulation at the start of loading operation>
In the above-described embodiment, the loading position LP is determined on one side of the loading machine 3, and the empty dump truck 2 is sequentially arranged at the loading position LP. The time when 2 was placed at the loading position LP was defined as the loading operation start time Ts1. In the loading place LPA, loading positions LP are determined on both sides of the loading machine 3, and the loading position LP on the other side is loaded during the loading operation on the dump truck 2 arranged at the loading position LP on one side. There is a possibility that the dump truck 2 is arranged. When loading positions LP are determined on both sides of the loading machine 3, and loading work (both-side loading work) is performed on each of the dump trucks 2 arranged at the loading positions LP on both sides. An example of the regulation at the start time of the loading operation will be described.
　図１０は、積込場ＬＰＡの一例を示す模式図であり、図１１は、積込作業の一例を示すフローチャートである。図１０に示すように、本実施形態において、積込場ＬＰＡの積込位置ＬＰｃに配置されたダンプトラック２Ｃに対する積込作業が積込機械３により行われる（ステップＳＣ１）。積込位置ＬＰｃは、積込機械３の一側に定められる。積込位置ＬＰｃにおいて積込作業が行われているときのダンプトラック２ＣのＧＰＳ位置に関する情報は、通信システム９を介して管理装置１０の処理装置１２に出力されている。 FIG. 10 is a schematic diagram showing an example of the loading site LPA, and FIG. 11 is a flowchart showing an example of the loading operation. As shown in FIG. 10, in this embodiment, the loading machine 3 performs the loading operation on the dump truck 2C arranged at the loading position LPc of the loading field LPA (step SC1). The loading position LPc is determined on one side of the loading machine 3. Information regarding the GPS position of the dump truck 2C when the loading operation is performed at the loading position LPc is output to the processing device 12 of the management device 10 via the communication system 9.
　ダンプトラック２Ｃに対する積込作業が終了すると、積込機械３の作業者ＷＭにより入力装置３１が操作される（ステップＳＣ２）。作業者ＷＭは、ダンプトラック２Ｃに対する積込作業が終了したとき、その入力ボタンを押す（操作する）。入力装置３１により生成された操作信号は、通信システム９を介して、管理装置１０の処理装置１２及びダンプトラック２Ｃの処理装置２０のそれぞれに出力される。 When the loading operation on the dump truck 2C is completed, the input device 31 is operated by the worker WM of the loading machine 3 (step SC2). The worker WM pushes (operates) the input button when the loading operation on the dump truck 2C is completed. The operation signal generated by the input device 31 is output to each of the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2C via the communication system 9.
　処理装置１２は、積込作業終了時において入力装置３１により生成された操作信号に基づいて、ダンプトラック２Ｃの積込動作の終了時点Ｔｅ１を規定する（ステップＳＣ３）。ダンプトラック２Ｃの積込動作の終了時点Ｔｅ１は、ダンプトラック２Ｃの積荷走行動作の開始時点Ｔｓ２を含む。 The processing device 12 defines the end time Te1 of the loading operation of the dump truck 2C based on the operation signal generated by the input device 31 at the end of the loading operation (step SC3). The end time Te1 of the loading operation of the dump truck 2C includes the start time Ts2 of the loading operation of the dump truck 2C.
　ダンプトラック２Ｃに対する積込作業終了時（ステップＳＣ２）において入力装置３１により生成された操作信号は、ダンプトラック２Ｃに対する積込位置ＬＰｃからの出発の指令信号を含む。入力装置３１により生成された操作信号が通信システム９を介してダンプトラック２Ｃの処理装置２０に入力されると、ダンプトラック２Ｃは、積込位置ＬＰｃから排土場ＤＰＡに向かって出発する。なお、入力装置３１からの操作信号を受信した管理装置１０の処理装置１２が、通信システム９を介して、ダンプトラック２Ｃに積込位置ＬＰｃからの出発を指令してもよい。 The operation signal generated by the input device 31 at the end of the loading operation for the dump truck 2C (step SC2) includes a departure command signal from the loading position LPc for the dump truck 2C. When the operation signal generated by the input device 31 is input to the processing device 20 of the dump truck 2C via the communication system 9, the dump truck 2C starts from the loading position LPc toward the dumping site DPA. The processing device 12 of the management device 10 that has received the operation signal from the input device 31 may instruct the dump truck 2C to leave from the loading position LPc via the communication system 9.
　ダンプトラック２Ｃに対する積込作業終了後、積込位置ＬＰに配置されたダンプトラック２に積荷を積み込む積込作業が積込機械３により行われる（ステップＳＡ１）。本実施形態においては、ダンプトラック２Ｃに対する積込作業が終了する前に、積込位置ＬＰにダンプトラック２が到着する（ステップＳＡ０）。積込位置ＬＰは、積込位置ＬＰｃとは異なる位置であり、積込機械３の他側に定められる。すなわち、本実施形態においては、積込位置ＬＰｃに配置されたダンプトラック２Ｃに積荷を積み込む積込作業において、積込位置ＬＰｃとは異なる積込位置ＬＰにダンプトラック２が既に配置される。積込位置ＬＰに到着したダンプトラック２は、ダンプトラック２Ｃに対する積込作業が終了するまで、積込位置ＬＰにおいて待機（走行停止）する。 After the loading operation for the dump truck 2C is completed, the loading machine 3 loads the load onto the dump truck 2 disposed at the loading position LP (step SA1). In the present embodiment, the dump truck 2 arrives at the loading position LP before the loading operation for the dump truck 2C is completed (step SA0). The loading position LP is a position different from the loading position LPc, and is determined on the other side of the loading machine 3. That is, in the present embodiment, in the loading operation of loading a load onto the dump truck 2C disposed at the loading position LPc, the dump truck 2 is already disposed at the loading position LP different from the loading position LPc. The dump truck 2 that has arrived at the loading position LP stands by (stops traveling) at the loading position LP until the loading operation on the dump truck 2C is completed.
　図１０に示すように、積込位置ＬＰｃと積込位置ＬＰとは異なる位置であり、本実施形態においては、積込機械３の一側に積込位置ＬＰｃが定められ、積込機械３の他側に積込位置ＬＰが定められる。積込機械３は、積込位置ＬＰｃに配置されたダンプトラック２Ｃに対する積込作業終了後、旋回し、ダンプトラック２Ｃに対する積込作業において積込位置ＬＰに既に配置されているダンプトラック２に対する積込作業を行う。積込位置ＬＰｃ及び積込位置ＬＰは、例えば走行経路ＣＳに含まれ、処理装置１２によって規定される。積込機械３は、両側に配置されるダンプトラック２Ｃ及びダンプトラック２のそれぞれに対して積込作業（両側積込作業）を行う。 As shown in FIG. 10, the loading position LPc and the loading position LP are different positions. In this embodiment, the loading position LPc is determined on one side of the loading machine 3, and The loading position LP is determined on the other side. The loading machine 3 turns after completion of the loading operation on the dump truck 2C arranged at the loading position LPc, and loads on the dump truck 2 already arranged at the loading position LP in the loading operation on the dump truck 2C. Doing work. The loading position LPc and the loading position LP are included in the travel route CS, for example, and are defined by the processing device 12. The loading machine 3 performs loading work (both-side loading work) on each of the dump truck 2C and the dump truck 2 arranged on both sides.
　ダンプトラック２が積込位置ＬＰに到着した到着時点は、ダンプトラック２のスポット動作の終了時点Ｔｅ６であり、ダンプトラック２のＧＰＳ位置に関する情報に基づいて求められる。処理装置１２は、位置検出装置２９の検出結果に基づいてダンプトラック２のＧＰＳ位置を求め、そのダンプトラック２のＧＰＳ位置に基づいて、到着時点Ｔｅ６を規定（設定）する。処理装置１２は、速度センサ２７の検出結果及びダンプトラック２のＧＰＳ位置に関する情報の少なくとも一方に基づいて、到着時点Ｔｅ６を規定してもよい。 The arrival time when the dump truck 2 arrives at the loading position LP is the end time Te6 of the spot operation of the dump truck 2, and is obtained based on information on the GPS position of the dump truck 2. The processing device 12 obtains the GPS position of the dump truck 2 based on the detection result of the position detection device 29, and defines (sets) the arrival time Te6 based on the GPS position of the dump truck 2. The processing device 12 may define the arrival time Te6 based on at least one of the detection result of the speed sensor 27 and the information regarding the GPS position of the dump truck 2.
　ステップＳＣ２において入力装置３１により生成された操作信号は、ダンプトラック２Ｃに対する積込作業終了の通知信号、及びダンプトラック２Ｃの積込位置ＬＰｃからの出発の指令信号であるとともに、ダンプトラック２に対する積込作業開始の通知信号である。入力装置３１により生成された操作信号は、通信システム９を介して、管理装置１０の処理装置１２及びダンプトラック２の処理装置２０のそれぞれに出力される。処理装置１２は、ダンプトラック２Ｃに対する積込作業終了時において入力装置３１により生成された操作信号に基づいて、ダンプトラック２に対する積込作業の開始時点Ｔｓ１を規定（設定）する。すなわち、本実施形態において、処理装置１２は、積込作業開始時において入力装置３１により生成された操作信号に基づいて、ダンプトラック２に対する積込作業の開始時点Ｔｓ１を規定する。 The operation signal generated by the input device 31 in step SC2 is a notification signal of completion of loading operation for the dump truck 2C and a start command signal from the loading position LPc of the dump truck 2C, and also the product for the dump truck 2 This is a notification signal of the start of the loading operation. The operation signal generated by the input device 31 is output to the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2 via the communication system 9. The processing device 12 defines (sets) the loading work start time Ts1 for the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading work for the dump truck 2C. That is, in the present embodiment, the processing device 12 defines the loading work start time Ts1 for the dump truck 2 based on the operation signal generated by the input device 31 at the start of the loading operation.
　本実施形態においては、ダンプトラック２が積込位置ＬＰに到着した到着時点Ｔｅ６から、ダンプトラック２に対する積込作業が開始される開始時点Ｔｓ１までの時間が、積込位置ＬＰにおけるダンプトラック２の待機時間（停止時間）となる。上述のように、到着時点Ｔｅ６は、位置検出装置２９の検出結果に基づいて規定され、開始時点Ｔｓ１は、ダンプトラック２Ｃに対する積込作業終了時において入力装置３１により生成された操作信号に基づいて規定される。処理装置１２は、ダンプトラック２が積込位置ＬＰに存在する状態で、入力装置３１からの操作信号が入力された時点を、開始時点Ｔｓ１として規定する。すなわち、開始時点Ｔｓ１は、処理装置１２によって規定される積込位置ＬＰと、位置検出装置２９によって検出されるダンプトラック２のＧＰＳ位置とが一致した状態で、入力装置３１が操作されて操作信号が生成された時点である。処理装置１２は、位置検出装置２９の検出結果と、ダンプトラック２Ｃに対する積込作業終了時において入力装置３１により生成された操作信号とに基づいて、ダンプトラック２が積込位置ＬＰに到着した到着時点Ｔｅ６から積込作業の開始時点Ｔｓ１までの待機時間を導出する。 In the present embodiment, the time from the arrival time Te6 when the dump truck 2 arrives at the loading position LP to the start time Ts1 at which the loading operation on the dump truck 2 is started is the time of the dump truck 2 at the loading position LP. It is a waiting time (stop time). As described above, the arrival time Te6 is defined based on the detection result of the position detection device 29, and the start time Ts1 is based on the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2C. It is prescribed. The processing device 12 defines the time point when the operation signal from the input device 31 is input in a state where the dump truck 2 exists at the loading position LP as the start time point Ts1. That is, when the loading position LP defined by the processing device 12 coincides with the GPS position of the dump truck 2 detected by the position detection device 29, the start time Ts1 is operated by the input device 31 being operated. Is the time when is generated. The processing device 12 arrives when the dump truck 2 has arrived at the loading position LP based on the detection result of the position detecting device 29 and the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2C. The waiting time from the time point Te6 to the loading work start time point Ts1 is derived.
　ダンプトラック２に対する積込作業が終了すると、積込機械３の作業者ＷＭにより入力装置３１が操作される（ステップＳＡ２）。入力装置３１により生成された操作信号は、通信システム９を介して、管理装置１０の処理装置１２及びダンプトラック２の処理装置２０のそれぞれに出力される。処理装置１２は、ダンプトラック２に対する積込作業終了時において入力装置３１により生成された操作信号に基づいて、ダンプトラック２に対する積込作業の終了時点Ｔｅ１を規定する。 When the loading operation on the dump truck 2 is completed, the input device 31 is operated by the worker WM of the loading machine 3 (step SA2). The operation signal generated by the input device 31 is output to the processing device 12 of the management device 10 and the processing device 20 of the dump truck 2 via the communication system 9. The processing device 12 defines the end time Te1 of the loading operation for the dump truck 2 based on the operation signal generated by the input device 31 when the loading operation for the dump truck 2 is completed.
　本実施形態において、ダンプトラック２に対する積込作業終了時（ステップＳＡ２）において入力装置３１により生成された操作信号は、ダンプトラック２に対する積込位置ＬＰからの出発の指令信号を含む。処理装置１２は、ダンプトラック２に対する積込作業終了時（ステップＳＡ２）において入力装置３１により生成された操作信号に基づいて、ダンプトラック２の積荷走行動作の開始時点Ｔｓ２を規定する。処理装置１２は、入力装置３１により操作信号が生成された時点（処理装置１２に操作信号が入力された時点）を、開始時点Ｔｓ２に規定する（ステップＳＡ３）。入力装置３１により生成された操作信号が通信システム９を介してダンプトラック２の処理装置２０に入力されると、ダンプトラック２は、積込位置ＬＰから排土場ＤＰＡに向かって出発する。 In the present embodiment, the operation signal generated by the input device 31 at the end of the loading operation for the dump truck 2 (step SA2) includes a starting command signal from the loading position LP for the dump truck 2. The processing device 12 defines the start time Ts2 of the load traveling operation of the dump truck 2 based on the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2 (step SA2). The processing device 12 defines the time point when the operation signal is generated by the input device 31 (the time point when the operation signal is input to the processing device 12) as the start time point Ts2 (step SA3). When the operation signal generated by the input device 31 is input to the processing device 20 of the dump truck 2 via the communication system 9, the dump truck 2 departs from the loading position LP toward the dumping site DPA.
　なお、ダンプトラック２に対する積込作業中に、積込位置ＬＰｃに次のダンプトラック２が到着した場合、ダンプトラック２に対する積込作業終了時（ステップＳＡ２）において入力装置３１により生成された操作信号に基づいて、次のダンプトラック２に対する積込作業の開始時点Ｔｓ１が規定される。 When the next dump truck 2 arrives at the loading position LPc during the loading operation on the dump truck 2, the operation signal generated by the input device 31 at the end of the loading operation on the dump truck 2 (step SA2). Based on the above, the start time Ts1 of the loading operation for the next dump truck 2 is defined.
＜配車指令＞
　処理装置１２は、複数のダンプトラック２それぞれの位置情報に基づいて、鉱山におけるダンプトラック２の割り当て指令をダンプトラック２に出力する。なお、割り当て指令に関する信号は、作業者による入力装置１７の操作に基づいて出力されてもよいし、処理装置１２がダンプトラック２の割り当てを演算して自動的に出力してもよい。処理装置１２は、複数のダンプトラック２の各動作の開始時点及び終了時点を、ダンプトラック２の位置情報に基づいて規定しており、ダンプトラック２の各動作に対応付けられたダンプトラック２の位置情報及び時間情報（開始時点及び終了時点）を正確に把握する。そのため、処理装置１２は、ダンプトラック２の各動作に対応付けられたダンプトラック２の位置情報及び時間情報に基づいて、適正は配車管理を行うことができ、配車指令（割り当て指令）を出力することができる。例えば、鉱山に複数の積込場ＬＰＡが存在する場合、それぞれの積込場ＬＰＡに存在する積込機械３の処理能力（例えば、積込作業可能なダンプトラック２の単位時間あたりの数）が異なる場合がある。その場合、例えば、処理能力が低い積込機械３に割り当てるダンプトラック２の数を多くしてしまうと、積込作業のために待機しなければならないダンプトラック２の数が増えて鉱山における生産性が低下する可能性がある。本実施形態によれば、処理装置１２は、ダンプトラック２の各動作に対応付けられたダンプトラック２の正確な時間情報に基づいて、鉱山における生産性の低下が抑制されるように（積込作業のために待機しなければならないダンプトラック２の数が増えないように）、どの積込場ＬＰＡ（積込機械３）に何台のダンプトラック２を割り当てればよいかを導出することができる。処理装置１２は、その導出したダンプトラック２の割り当てを複数のダンプトラック２のそれぞれに出力することができる。 <Vehicle allocation directive>
The processing device 12 outputs an allocation command for the dump truck 2 in the mine to the dump truck 2 based on the position information of each of the plurality of dump trucks 2. The signal related to the allocation command may be output based on the operation of the input device 17 by the operator, or the processing device 12 may calculate the allocation of the dump truck 2 and automatically output it. The processing device 12 defines the start time and end time of each operation of the plurality of dump trucks 2 based on the position information of the dump truck 2, and the dump truck 2 associated with each operation of the dump truck 2. Accurately grasp position information and time information (start time and end time). Therefore, the processing device 12 can appropriately perform the vehicle allocation management based on the position information and time information of the dump truck 2 associated with each operation of the dump truck 2, and outputs a vehicle allocation command (allocation command). be able to. For example, when there are a plurality of loading sites LPA in the mine, the processing capacity of the loading machine 3 existing in each loading site LPA (for example, the number of dump trucks 2 that can be loaded per unit time) is May be different. In that case, for example, if the number of dump trucks 2 allocated to the loading machine 3 having a low processing capacity is increased, the number of dump trucks 2 that have to wait for the loading operation increases, and the productivity in the mine is increased. May be reduced. According to the present embodiment, the processing device 12 is configured to prevent a decrease in productivity in the mine based on accurate time information of the dump truck 2 associated with each operation of the dump truck 2 (loading). Deriving how many dump trucks 2 should be allocated to which loading site LPA (loading machine 3) so that the number of dump trucks 2 that have to wait for work does not increase) it can. The processing device 12 can output the derived allocation of the dump truck 2 to each of the plurality of dump trucks 2.
　また、複数の積込場ＬＰＡ及び排土場ＤＰＡのそれぞれに通じるように搬送路ＨＬが複数設けられる場合、搬送路ＨＬの特徴（勾配の角度、カーブの数、路面状況など）によっては、それら搬送路ＨＬにおけるダンプトラック２の走行時間（積荷走行時間、空荷走行時間）が搬送路ＨＬ毎に異なる可能性がある。また、搬送路ＨＬの補修作業などの作業状況によっても、搬送路ＨＬにおけるダンプトラック２の走行時間が異なる可能性がある。また、搬送路ＨＬの交差点の数によっても、搬送路ＨＬにおけるダンプトラック２の走行時間が変化する可能性がある。また、搬送路ＨＬの交差点を通過するようにダンプトラック２が走行する場合において、搬送路ＨＬの特徴や作業状況などによって、搬送路ＨＬの第１の位置から交差点までのダンプトラック２の走行時間と、搬送路ＨＬの交差点から第２の位置までのダンプトラック２の走行時間とが異なる可能性がある。また、例えば、搬送路ＨＬの交差点から第１の積込場ＬＰＡに通じる搬送路ＨＬと第２の積込場ＬＰＡに通じる搬送路ＨＬとに分岐している場合、第１の積込場ＬＰＡに通じる搬送路ＨＬ及び第２の積込場ＤＰＡに通じる搬送路ＨＬそれぞれの特徴や作業状況などによって、第１の積込場ＬＰＡに通じる搬送路ＨＬを走行するダンプトラック２の走行時間と、第２の積込場ＬＰＡに通じる搬送路ＨＬを走行するダンプトラック２の走行時間とが異なる可能性がある。また、例えば、搬送路ＨＬの交差点から第１の排土場ＤＰＡに通じる搬送路ＨＬと第２の排土場ＤＰＡに通じる搬送路ＨＬとに分岐している場合、第１の排土場ＤＰＡに通じる搬送路ＨＬ及び第２の排土場ＤＰＡに通じる搬送路ＨＬそれぞれの特徴や作業状況などによって、第１の排土場ＤＰＡに通じる搬送路ＨＬを走行するダンプトラック２の走行時間と、第２の排土場ＤＰＡに通じる搬送路ＨＬを走行するダンプトラック２の走行時間とが異なる可能性がある。すなわち、搬送路ＨＬの特徴や現場状況により、ダンプトラック２の走行速度を制限しなければならない状況が発生し、その結果、その搬送路ＨＬにおけるダンプトラック２の走行時間が変化する可能性がある。本実施形態によれば、ダンプトラック２がどの搬送路ＨＬを走行（積荷走行、空荷走行）するのにどれくらいの時間を要するのかといったような、ダンプトラック２の動作と位置情報と時間情報とが対応付けられて正確に把握されているため、処理装置１２は、ダンプトラック２の低速走行や渋滞が生じないように、適正な配車管理又は配車指令を行うことができる。また、例えば、搬送路ＨＬの交差点から第１の積込場ＬＰＡに通じる搬送路ＨＬと第２の積込場ＬＰＡに通じる搬送路ＨＬとに分岐している場合、排土場ＤＰＡを出発し、搬送路ＨＬの交差点を通過して第１の積込場ＬＰＡに向かおうとするダンプトラック２を、第１の積込場ＬＰＡに通じる搬送路ＨＬや第１の積込場ＬＰＡの入口においてダンプトラック２の低速走行や渋滞が生じないように、そのダンプトラック２が第２の積込場ＬＰＡに向かって搬送路ＨＬを走行するように、そのダンプトラック２に割り当て指令が出力されてもよい。また、例えば、搬送路ＨＬの交差点から第１の排土場ＤＰＡに通じる搬送路ＨＬと第２の排土場ＤＰＡに通じる搬送路ＨＬとに分岐している場合、積込場ＬＰＡを出発し、搬送路ＨＬの交差点を通過して第１の排土場ＤＰＡに向かおうとするダンプトラック２を、第１の排土場ＤＰＡに通じる搬送路ＨＬにおいてダンプトラック２の低速走行や渋滞が生じないように、そのダンプトラック２が第２の排土場ＤＰＡに向かって搬送路ＨＬを走行するように、そのダンプトラック２に割り当て指令が出力されてもよい。 In addition, when a plurality of transport paths HL are provided so as to communicate with each of a plurality of loading sites LPA and earth discharging sites DPA, depending on the characteristics of the transport path HL (gradient angle, number of curves, road surface conditions, etc.) There is a possibility that the travel time (load travel time, empty travel time) of the dump truck 2 in the transport path HL may be different for each transport path HL. Also, the traveling time of the dump truck 2 on the transport path HL may be different depending on the work situation such as the repair work of the transport path HL. Further, the traveling time of the dump truck 2 on the conveyance path HL may change depending on the number of intersections of the conveyance path HL. Further, when the dump truck 2 travels so as to pass through the intersection of the transport path HL, the travel time of the dump truck 2 from the first position of the transport path HL to the intersection depends on the characteristics of the transport path HL and the work situation. And the traveling time of the dump truck 2 from the intersection of the transport path HL to the second position may be different. Further, for example, when branching from the intersection of the transport path HL to the transport path HL leading to the first loading field LPA and the transport path HL leading to the second loading field LPA, the first loading field LPA The traveling time of the dump truck 2 traveling on the transport path HL leading to the first loading field LPA, depending on the characteristics and work conditions of the transport path HL leading to the second loading field DPA There is a possibility that the traveling time of the dump truck 2 traveling on the conveyance path HL leading to the second loading field LPA is different. In addition, for example, when branching from the intersection of the transport path HL to the transport path HL leading to the first soil discharge field DPA and the transport path HL leading to the second soil discharge field DPA, the first soil discharge field DPA The traveling time of the dump truck 2 traveling on the transport path HL leading to the first soil disposal site DPA, depending on the characteristics and work conditions of the transport path HL leading to the second soil disposal site DPA There is a possibility that the traveling time of the dump truck 2 traveling on the conveyance path HL leading to the second earth discharging site DPA is different. That is, there is a possibility that the traveling speed of the dump truck 2 must be limited depending on the characteristics of the transportation path HL and the situation at the site, and as a result, the traveling time of the dump truck 2 on the transportation path HL may change. . According to the present embodiment, the operation, position information, and time information of the dump truck 2 such as how much time it takes for the dump truck 2 to travel on which conveyance path HL (load traveling, empty traveling) are taken. Therefore, the processing device 12 can perform appropriate vehicle allocation management or vehicle allocation commands so that the dump truck 2 does not run at low speed or traffic jams. In addition, for example, when branching from the intersection of the transport path HL to the transport path HL leading to the first loading field LPA and the transport path HL leading to the second loading field LPA, the departure site DPA is departed. The dump truck 2 passing through the intersection of the transport path HL and going to the first loading field LPA is passed through the transport path HL leading to the first loading field LPA and the entrance of the first loading field LPA. Even if an allocation command is output to the dump truck 2 so that the dump truck 2 travels on the conveyance path HL toward the second loading place LPA so that the dump truck 2 does not run at low speed or traffic jams. Good. In addition, for example, when branching from the intersection of the conveyance path HL to the conveyance path HL leading to the first earth removal site DPA and the conveyance path HL leading to the second earth disposal site DPA, the loading field LPA is departed. The dump truck 2 passing through the intersection of the transport path HL and heading for the first dumping site DPA causes the dump truck 2 to run at a low speed and congestion on the transport path HL leading to the first dumping site DPA. An allocation command may be output to the dump truck 2 so that the dump truck 2 travels on the conveyance path HL toward the second dumping site DPA.
　また、例えば雨天時においてダンプトラック２が高速走行できないような場合、鉱山に投入されているダンプトラック２の数が少ないと、積込機械３によるダンプトラック２に対する積込作業が終了した後、次のダンプトラック２が積込位置ＬＰに到着するまでに時間があいてしまい、次のダンプトラック２が到着するまで積込機械３が待機状態となってしまって生産性が低下する。本実施形態においては、処理装置１２は、ダンプトラック２の各動作に対応付けられた位置情報及び時間情報（動作に要する時間）を正確に把握しているため、それらの情報に基づいて、鉱山に投入するダンプトラック２の適正な数を決定することができる。同様に、鉱山に投入されているダンプトラック２が多すぎる場合、処理装置１２は、鉱山に投入するダンプトラック２の適正な数を決定することができる。 Further, for example, when the dump truck 2 cannot travel at high speed in rainy weather, if the number of dump trucks 2 put into the mine is small, after the loading work on the dump truck 2 by the loading machine 3 is completed, There is a time until the dump truck 2 arrives at the loading position LP, and the loading machine 3 becomes in a standby state until the next dump truck 2 arrives, and the productivity is lowered. In the present embodiment, the processing device 12 accurately grasps the position information and time information (time required for the operation) associated with each operation of the dump truck 2, and therefore, based on the information, the mine It is possible to determine an appropriate number of dump trucks 2 to be loaded into the vehicle. Similarly, when there are too many dump trucks 2 input to the mine, the processing apparatus 12 can determine an appropriate number of dump trucks 2 input to the mine.
　以上説明したように、本実施形態によれば、ダンプトラック２の位置情報に基づいてダンプトラック２の所定動作の開始時点及び終了時点を規定しているため、ダンプトラック２の位置情報に対応付けられた所定動作の開始時点及び終了時点を正確に求めることができる。すなわち、本実施形態によれば、ダンプトラック２の複数の動作のそれぞれに対応付けて、その動作が行われるダンプトラック２の位置情報及び時間情報が正確に求められるため、鉱山におけるダンプトラック２の正確な配車状況（割り当て状況、稼働状況）を取得することができる。したがって、その取得された配車状況に基づいて、鉱山における生産性の低下が抑制されるような適正な配車管理（割り当て管理）を行うことができる。 As described above, according to the present embodiment, since the start time and the end time of the predetermined operation of the dump truck 2 are defined based on the position information of the dump truck 2, it is associated with the position information of the dump truck 2. It is possible to accurately obtain the start time and end time of the predetermined operation. That is, according to the present embodiment, since the position information and time information of the dump truck 2 on which the operation is performed are accurately obtained in association with each of the plurality of operations of the dump truck 2, the dump truck 2 in the mine Accurate vehicle allocation status (allocation status, operating status) can be acquired. Therefore, it is possible to perform appropriate vehicle allocation management (assignment management) that suppresses a decrease in productivity in the mine based on the acquired vehicle allocation situation.
　すなわち、例えば、ダンプトラック２の所定動作に要する時間のみを取得した場合、積込作業のために待機しなければならないダンプトラック２の数を増やさないような配車管理、あるいは、搬送路ＨＬにおいて渋滞を生じさせないような配車管理を直ちに実行することが困難となる可能性がある。本実施形態によれば、処理装置１２は、鉱山のどの位置でどのような動作を行うときにどれくらいの時間を要するのかをダンプトラック２ごとに把握できるため、長時間の待機状態や渋滞などが生じないように、複数のダンプトラック２のそれぞれを適正な現場（積込場ＬＰＡ、排土場ＤＰＡ）に向けて走行させることができる。 That is, for example, when only the time required for the predetermined operation of the dump truck 2 is acquired, vehicle allocation management that does not increase the number of dump trucks 2 that have to wait for loading work, or traffic congestion in the transport path HL It may be difficult to immediately execute the vehicle allocation management that does not cause the problem. According to the present embodiment, the processing device 12 can grasp for each dump truck 2 how long it takes to perform what operation at which position in the mine. In order not to occur, each of the plurality of dump trucks 2 can travel toward an appropriate site (loading site LPA, earth discharging site DPA).
　また、本実施形態においては、積込場ＬＰＡの入口ＧＬにおいて待機状態のダンプトラック２Ｃの後ろであって、そのダンプトラック２Ｃから所定距離離れた位置（待機位置）にダンプトラック２が到着したときに、そのダンプトラック２が入口ＧＬに到着したと判定される。したがって、入口ＧＬにおいてダンプトラック２Ｃが待機していても、ダンプトラック２の空荷走行時間を正確に求めることができる。したがって、その求められた空荷走行時間に基づいて、複数の積込場ＬＰＡのそれぞれにおいて積込作業のために待機しなければならないダンプトラック２の数が増えないように、適正な配車管理を行うことができる。 Further, in the present embodiment, when the dump truck 2 arrives at a position (standby position) behind the dump truck 2C in the standby state at the entrance GL of the loading site LPA and away from the dump truck 2C by a predetermined distance. It is determined that the dump truck 2 has arrived at the entrance GL. Therefore, even when the dump truck 2C is waiting at the entrance GL, the empty travel time of the dump truck 2 can be accurately obtained. Therefore, on the basis of the determined unloading travel time, appropriate vehicle allocation management is performed so that the number of dump trucks 2 that have to wait for loading work does not increase in each of the plurality of loading sites LPA. It can be carried out.
　また、図１０及び図１１を参照して説明したように、積込機械３の両側に積込位置ＬＰが定められている場合において、積込場ＬＰ（積込位置ＬＰｃ）において先のダンプトラック２Ｃに対する積込作業が行われているときに積込位置ＬＰに次のダンプトラック２が到着した場合、そのダンプトラック２Ｃに対する積込作業終了時において入力装置３１により生成された操作信号に基づいて、ダンプトラック２に対する積込作業の開始時点Ｔｓ１を規定するようにしたので、ダンプトラック２が積込位置ＬＰに到着した到着時点Ｔｅ６から開始時点Ｔｓ１までの待機時間を考慮して、適正な配車管理を行うことができる。 As described with reference to FIGS. 10 and 11, when the loading positions LP are determined on both sides of the loading machine 3, the previous dump truck at the loading site LP (loading position LPc). When the next dump truck 2 arrives at the loading position LP while the loading operation for 2C is being performed, based on the operation signal generated by the input device 31 at the end of the loading operation for the dump truck 2C. Since the start time Ts1 of the loading operation for the dump truck 2 is defined, an appropriate dispatch is considered in consideration of the waiting time from the arrival time Te6 when the dump truck 2 arrives at the loading position LP to the start time Ts1. Management can be performed.
　また、本実施形態によれば、積込作業終了時に入力装置３１により生成される操作信号は、終了時点Ｔｅ１及び開始時点Ｔｓ２の規定に用いられるとともに、ダンプトラック２に対する積込位置ＬＰからの出発の指令信号を兼ねる。したがって、入力装置３１が操作されないと、ダンプトラック２は積込位置ＬＰから出発せず、積込位置ＬＰに留まることとなる。そのため、作業者ＷＭが入力装置３１を操作し忘れてしまうことが防止される。 Further, according to the present embodiment, the operation signal generated by the input device 31 at the end of the loading operation is used for defining the end time Te1 and the start time Ts2, and the departure from the loading position LP with respect to the dump truck 2 Also serves as a command signal. Therefore, if the input device 31 is not operated, the dump truck 2 does not start from the loading position LP but stays at the loading position LP. This prevents the worker WM from forgetting to operate the input device 31.
　なお、上述の実施形態においては、ＧＰＳを用いてダンプトラック２の位置情報を検出することとしたが、ダンプトラック２の位置情報を検出する方法は、ＧＰＳを用いる方法に限定されない。例えば、ダンプトラック２に配置されたジャイロセンサ及び速度センサを用いて、推測航法によりダンプトラック２の位置情報が求められてもよい。 In the above-described embodiment, the position information of the dump truck 2 is detected using GPS. However, the method of detecting the position information of the dump truck 2 is not limited to the method using GPS. For example, the position information of the dump truck 2 may be obtained by dead reckoning navigation using a gyro sensor and a speed sensor arranged on the dump truck 2.
　なお、上述の実施形態において、処理装置１２は、ダンプトラック２の複数の動作のそれぞれに要する時間から１サイクルに要する時間（サイクル時間）を求めてもよい。例えば、処理装置１２は、開始時点Ｔｓ１と、１サイクルを経た後の開始時点Ｔｓ１とから、サイクル時間を求めることができる。また、処理装置１２は、入力装置３１により生成された操作信号に基づいて規定される開始時点Ｔｓ２（終了時点Ｔｅ１）と、１サイクルを経た後の開始時点Ｔｓ２（終了時点Ｔｅ１）とから、サイクル時間をに求めることもできる。 In the above-described embodiment, the processing device 12 may obtain the time (cycle time) required for one cycle from the time required for each of the plurality of operations of the dump truck 2. For example, the processing device 12 can obtain the cycle time from the start time Ts1 and the start time Ts1 after one cycle. Further, the processing device 12 cycles from a start time Ts2 (end time Te1) defined based on the operation signal generated by the input device 31 and a start time Ts2 (end time Te1) after one cycle. You can also ask for time.
　また、鉱山の現場状況（掘削状況、作業状況など）は刻々と変化し、これに伴い、搬送路ＨＬにおける走行停止時間が変化する可能性がある。現場状況の影響を受けていないサイクル時間（搬送路ＨＬにおける走行停止時間を含まないサイクル時間）を求めたい場合、上述した各動作に要した時間（排出作業時間、空荷走行時間、入口待機時間、スポット時間、積込作業時間）の和を求めればよい。 Also, the mine site status (excavation status, work status, etc.) changes every moment, and accordingly, the travel stop time on the transport path HL may change. When it is desired to obtain a cycle time that is not affected by on-site conditions (a cycle time that does not include the travel stop time in the transport path HL), the time required for each of the operations described above (discharge operation time, empty travel time, entrance waiting time) , Spot time, loading work time).
　なお、例えば図１２に示すように、開始時点Ｔｓ１と１サイクルを経た後の開始時点Ｔｓ１との間の時間（全サイクル時間）から、搬送路ＨＬにおける走行停止時間を減じることによっても、現場状況の影響を受けていないサイクル時間（基準サイクル時間）を求めることができる。 For example, as shown in FIG. 12, it is also possible to reduce the travel stop time on the transport path HL from the time between the start time Ts1 and the start time Ts1 after one cycle (total cycle time). It is possible to obtain a cycle time (reference cycle time) that is not affected by the above.
　なお、全サイクル時間から、搬送路ＨＬにおける走行停止時間と、入口待機時間とを減じたサイクル時間を求めてもよい。 In addition, you may obtain | require the cycle time which reduced the traveling stop time in the conveyance path HL, and the entrance waiting time from all the cycle time.
　なお、図１０及び図１１を参照して説明したような、積込機械３の両側に積込位置ＬＰが定められている場合、全サイクル時間から、搬送路ＨＬにおける走行停止時間と、積込位置ＬＰにおける待機時間（積込位置ＬＰに対する到着時点Ｔｅ６から積込動作の開始時点Ｔｓ１までの時間）とを減じたサイクル時間を求めてもよいし、全サイクル時間から、搬送路ＨＬにおける走行停止時間と、入口待機時間と、積込位置ＬＰにおける待機時間とを減じたサイクル時間を求めてもよい。 In addition, when the loading positions LP are determined on both sides of the loading machine 3 as described with reference to FIGS. 10 and 11, the travel stop time on the conveyance path HL and the loading are calculated from the total cycle time. The cycle time obtained by subtracting the waiting time at the position LP (the time from the arrival time Te6 to the loading position LP to the loading operation start time Ts1) may be obtained, or the travel stop on the transport path HL is stopped from the total cycle time. You may obtain | require the cycle time which reduced time, the entrance waiting time, and the waiting time in the loading position LP.
　なお、現場状況の影響を受けていないサイクル時間に基づいて、鉱山におけるダンプトラック２の配車管理（鉱山に投入するダンプトラック２の数など）が行われてもよい。 It should be noted that dispatch management of the dump truck 2 in the mine (such as the number of dump trucks 2 to be input into the mine) may be performed based on the cycle time that is not affected by the site conditions.
　なお、上述の各実施形態において、ダンプトラック２は、作業者（運転者）の操作により作動する、所謂、有人ダンプトラックでもよい。 In each of the above-described embodiments, the dump truck 2 may be a so-called manned dump truck that is operated by an operator (driver) operation.
　上述した各実施形態の構成要件は、当業者が容易に想定できるもの、実質的に同一のもの、いわゆる均等の範囲のものを含む。また、上述した各実施形態の構成要件は、適宜組み合わせることができる。また、一部の構成要素を用いない場合もある。 The configuration requirements of each embodiment described above include those that can be easily assumed by those skilled in the art, substantially the same, and so-called equivalent ranges. In addition, the configuration requirements of each embodiment described above can be combined as appropriate. Some components may not be used.
１　管理システム
２　ダンプトラック（運搬機械）
３　積込機械
９　通信システム
１０　管理装置
１２　処理装置
１３　記憶装置
１８　無線通信装置
２０　処理装置
２５　記憶装置
２８　無線通信装置
２９　位置検出装置
２９Ａ　アンテナ
３０　処理装置
３１　入力装置
３２　無線通信装置
３３　位置検出装置
３９　記憶装置
ＤＰ　排土位置
ＤＰＡ　排土場
ＨＬ　搬送路
ＬＰ　積込位置
ＬＰＡ　積込場 1 Management system 2 Dump truck (transport machine)
3 loading machine 9 communication system 10 management device 12 processing device 13 storage device 18 wireless communication device 20 processing device 25 storage device 28 wireless communication device 29 position detection device 29A antenna 30 processing device 31 input device 32 wireless communication device 33 position detection device 39 Storage Device DP Excavation Position DPA Excavation Site HL Transport Path LP Loading Position LPA Loading Site

Claims (7)

  1. 　鉱山を走行する運搬機械に配置され、前記運搬機械の位置情報を検出可能な位置検出装置と、
    　前記位置検出装置で検出された前記運搬機械の位置情報が出力される処理装置と、を備え、
    　前記処理装置は、前記位置検出装置から出力された前記運搬機械の位置情報に基づいて、前記運搬機械の複数の動作それぞれの開始時点及び終了時点の少なくとも一方を規定する管理システム。     A position detecting device arranged in a transporting machine traveling in a mine and capable of detecting position information of the transporting machine;
    A processing device that outputs position information of the transporting machine detected by the position detecting device, and
    The processing device is a management system that defines at least one of a start time and an end time of each of a plurality of operations of the transport machine based on the position information of the transport machine output from the position detection device.
  2. 　前記処理装置を有する管制施設を備え、
    　前記処理装置に対して複数の運搬機械それぞれの位置情報が出力され、
    　前記処理装置は、複数の前記運搬機械それぞれの前記位置情報に基づいて、前記鉱山における前記運搬機械の割り当て指令を前記運搬機械に出力する請求項１に記載の管理システム。     A control facility having the processing device;
    Position information of each of a plurality of transport machines is output to the processing device,
    2. The management system according to claim 1, wherein the processing device outputs an instruction to assign the transport machine in the mine to the transport machine based on the position information of each of the plurality of transport machines.
  3. 　前記運搬機械は、積荷の積込作業が行われる積込場、積荷の排出作業が行われる排土場、及び前記積込場と前記排土場とを結ぶ搬送路を走行し、
    　前記運搬機械の複数の動作は、積荷が積まれない状態で走行する第１動作、前記積込場の入口の待機位置における待機状態が解除されてから前記積込場の積込位置まで移動する第２動作、前記積込位置において積込機械により積荷が積み込まれる第３動作、及び積荷が積まれた状態で走行する第４動作の少なくとも一つを含む請求項１又は請求項２に記載の管理システム。     The transporting machine travels on a loading place where loading work is performed, a dumping site where discharging work is performed, and a conveyance path connecting the loading field and the discharging site,
    The plurality of operations of the transporting machine are a first operation that travels in a state where no load is loaded, and moves to a loading position at the loading site after the standby state at the standby position at the loading site is released. 3. The apparatus according to claim 1, comprising at least one of a second operation, a third operation in which a load is loaded by the loading machine at the loading position, and a fourth operation that travels while the load is loaded. Management system.
  4. 　前記積込機械に配置された入力装置を備え、
    　前記入力装置により生成される操作信号は、前記運搬機械に対する前記積込位置からの出発の指令信号を含む請求項３に記載の管理システム。     Comprising an input device arranged in the loading machine;
    4. The management system according to claim 3, wherein the operation signal generated by the input device includes a command signal for starting from the loading position with respect to the transporting machine.
  5. 　前記第３動作の終了時点及び前記第４動作の開始時点の少なくとも一方は、前記入力装置により前記操作信号が生成された時点を含む請求項４に記載の管理システム。 5. The management system according to claim 4, wherein at least one of an end time of the third operation and a start time of the fourth operation includes a time when the operation signal is generated by the input device.
  6. 　前記処理装置は、前記積込場と前記排土場との間で往復する前記運搬機械のサイクル動作に要する時間を算出する請求項３から請求項５のいずれか一項に記載の管理システム。 The management system according to any one of claims 3 to 5, wherein the processing device calculates a time required for a cycle operation of the transporting machine that reciprocates between the loading field and the dumping field.
  7. 　鉱山を走行する運搬機械に配置された位置検出装置で前記運搬機械の位置情報を検出することと、
    　前記位置検出装置で検出された前記運搬機械の位置情報を処理装置に出力することと、
    　前記位置検出装置から出力された前記運搬機械の位置情報に基づいて、前記運搬機械の複数の動作それぞれの開始時点及び終了時点の少なくとも一方を規定することと、を含む管理方法。     Detecting position information of the transporting machine with a position detecting device arranged in the transporting machine traveling in the mine;
    Outputting position information of the transporting machine detected by the position detecting device to a processing device;
    Defining at least one of a start time and an end time of each of the plurality of operations of the transport machine based on the position information of the transport machine output from the position detection device.
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CN104769630A (en) 2015-07-08
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JPWO2015025371A1 (en) 2017-03-02
AU2013344339B2 (en) 2015-09-10
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